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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec81588138ae147f5aa8ff50281e86387c3a3f5d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4263b42b9429d473617fb0b90490d364774e3fca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_hte_00011
+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 b from home. Shake the current contents of
+    beaker b once. Place beaker b on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00011
+  reproducibility:
+    enabled: true
+    layout_id: layout_00011
+    action_seed: 5125611169601523735
+    step_seeds:
+    - 833302438968261441
+    - 2635298924869554144
+    - 5370397393835884011
+    - 2609782213990237604
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2818
+      - 0.2818
+      'y':
+      - -0.1235
+      - -0.1235
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2854
+      - 0.2854
+      'y':
+      - 0.0872
+      - 0.0872
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3379
+      - 0.3379
+      'y':
+      - 0.2484
+      - 0.2484
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2071
+      - 0.2071
+      'y':
+      - -0.3185
+      - -0.3185
+      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_b
+    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: 0.3
+      gripper_distances: 0.019
+      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
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - 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_s04_pslr_hte_00011
+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_s04_pslr_hte_00011/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bd875fd25f207565740bb73ed2e5c18874902dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3070858174123674,
+              0.09589932247925768,
+              1.0473613897335712
+            ],
+            "current_z": 1.0473613897335712,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19077482272036084,
+            "gripper_z": 1.0499857044664258,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3020568221547455,
+              0.09102213272167421,
+              1.0499857044664258
+            ],
+            "object_minus_gripper": [
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+              0.004877189757583472,
+              -0.002624314732854627
+            ],
+            "object_to_gripper_xy": 0.007005553028324083,
+            "object_to_gripper_z": -0.002624314732854627,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3070858174123674,
+              0.07155507269943066,
+              1.0473613897335712
+            ],
+            "finger_b": [
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+              0.09589932247925768,
+              1.0473613897335712
+            ],
+            "finger_midpoint": [
+              0.30111247332196356,
+              0.08372719758934417,
+              1.0473613897335712
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01217212488991351,
+              0.0
+            ],
+            "finger_gap": 0.02711762998184132,
+            "fingertip_max_gap": 0.0924158969084444,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013558814990920648,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473613897335712,
+            "object_top_z": 1.0937560601055114,
+            "finger_top_clearance": 0.04639467037194023,
+            "fingertip_min_top_clearance": 0.013918401111582069,
+            "object_projection_between_fingers": 0.8059151681336071,
+            "object_to_finger_line_xy": 0.010724873866559901,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487079484542222,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8015119969336637,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.09364483648659674,
+              1.2398631639418314
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+              0.09803202779125202,
+              1.2370981626417128
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
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+            "held_gripper_z_dist": 0.002765001300118586,
+            "max_held_gripper_z_dist": 0.002773362874367802,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0862488373199977,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
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+              0.07249097893939371,
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+            ],
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+              0.08526150336532287,
+              1.2370981626417128
+            ],
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+              0.09803202779125202,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02464315149315631,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9962199468118117,
+              0.023037312177392574
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003709464241695751,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032077298383672764,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26874982039050804,
+              -0.31728065845530323,
+              0.8470192550509991
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+            "target_position": [
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+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007110799241573665,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18525175414685163,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192550509991,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525223849038469,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608750411635459,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15453846357823187,
+            "release_required_pad_clearance": 0.053043752058177296,
+            "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": 1.1162606958338561,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007025003433227539,
+            "max_z_decrease": 0.007025003433227539,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510712024511739,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007025003433227539,
+            "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": 0.02111066758166723,
+            "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": 0.007025003433227539,
+            "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": 0.007025014895901825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11766944080591202,
+              -0.375684767961502,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11766944080591202,
+              -0.375684767961502,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11741251070184117,
+              -0.37460922002286684,
+              0.8078312328352172
+            ],
+            "closest_button": [
+              0.11766503006219864,
+              -0.37568658590316767,
+              0.7727415561676025
+            ],
+            "closest_ee_minus_button": [
+              -0.0002525193603574727,
+              0.001077365880300829,
+              0.035089676667614644
+            ],
+            "button_min_z_position": [
+              0.11765675246715546,
+              -0.3756850063800811,
+              0.7697838544845581
+            ],
+            "min_active_finger_to_button": 0.14597553387301027,
+            "closest_active_finger": [
+              -0.01075916737318039,
+              -0.4359666705131531,
+              0.8107231855392456
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+            "closest_active_finger_button": [
+              0.11767058074474336,
+              -0.3756857514381408,
+              0.7763594388961792
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12842974811792374,
+              -0.06028091907501226,
+              0.034363746643066406
+            ],
+            "min_contact_pad_to_button": 0.02111066758166723,
+            "closest_contact_pad": [
+              0.11765675246715546,
+              -0.3758698569097924,
+              0.7908937127509066
+            ],
+            "closest_contact_pad_button": [
+              0.11765675246715546,
+              -0.3756850063800811,
+              0.7697838544845581
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000184850529711289,
+              0.02110985826634848
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "60d7b0de28be4ecba90b84fe5fc3db6e43fe4f28151eb2f05bd0f18c5ceb1b6c",
+    "visual_seed": 9156176768569185190,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0116b939a1a95ab0ce523c529670233e26ce7926
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3108166065655284,
+              0.0935675851164101,
+              1.0458000287086808
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+            "gripper_z": 1.0483637918498308,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3058827891602801,
+              0.08869103565838882,
+              1.0483637918498308
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+              0.004933817405248286,
+              0.0048765494580212815,
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+            "object_to_gripper_z": -0.0025637631411499218,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3108166065655284,
+              0.06937585952058999,
+              1.0458000287086808
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+            "finger_b": [
+              0.29876544351511325,
+              0.0935675851164101,
+              1.0458000287086808
+            ],
+            "finger_midpoint": [
+              0.30479102504032085,
+              0.08147172231850004,
+              1.0458000287086808
+            ],
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+              0.006025581525207546,
+              0.012095862797910056,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
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+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88b9351f3a2ae921e4bc0de8cd7e87f8d4b5e2bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+          "failure_messages": {},
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+                "Robotiq2F85",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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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+                {
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "metrics": {
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+              "robot_prim_substrings": [
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+                "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"
+              ],
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
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+              "enabled": true
+            },
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+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "max_placed_release_frames": 149
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+                "heater_platform"
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
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+                "panda_joint2",
+                "panda_joint3",
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+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+        "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": 3,
+      "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": 0.006877541542053223,
+            "max_z_decrease": 0.006877541542053223,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035110500713411846,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006877541542053223,
+            "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": 0.021106096517082618,
+            "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": 0.006877541542053223,
+            "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": 0.0068775647297274235,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11984597891569136,
+              -0.37798547744750977,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11984597891569136,
+              -0.37798547744750977,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12006554118021717,
+              -0.37661523176766243,
+              0.8079718189178691
+            ],
+            "closest_button": [
+              0.11983571946620938,
+              -0.37798446416854853,
+              0.7728887796401978
+            ],
+            "closest_ee_minus_button": [
+              0.0002298217140077885,
+              0.0013692324008861,
+              0.03508303927767131
+            ],
+            "button_min_z_position": [
+              0.11982811987400052,
+              -0.3779855370521545,
+              0.7699313163757324
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+            "min_active_finger_to_button": 0.14541604633001207,
+            "closest_active_finger": [
+              -0.006739132106304169,
+              -0.4407308101654053,
+              0.8112074732780457
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+            "closest_active_finger_button": [
+              0.11984860152006148,
+              -0.3779850304126739,
+              0.7767932415008545
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12658773362636566,
+              -0.06274577975273138,
+              0.03441423177719116
+            ],
+            "min_contact_pad_to_button": 0.021106096517082618,
+            "closest_contact_pad": [
+              0.11982811987400052,
+              -0.3779855370521545,
+              0.791037412892815
+            ],
+            "closest_contact_pad_button": [
+              0.11982811987400052,
+              -0.3779855370521545,
+              0.7699313163757324
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021106096517082618
+            ]
+          },
+          "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": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "582b546223e81a3f57a7ba8bb45ebb6438822400813a5f8c1744efc81b9f145c",
+    "visual_seed": 1756773344871037755,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..001163a57cddba49dada9687c1af18dfc313a7c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.09401748579146932,
+              1.0486652377315815
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+            "gripper_z": 1.0511084766943388,
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+              0.3089172151417235,
+              0.08915047655016434,
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+              0.0048670092413049815,
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+              0.06964996514337618,
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+              1.0486652377315815
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+              0.08183372546742275,
+              1.0486652377315815
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+              1.0
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+            "stable_success_frames": 218,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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,
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.002602887773953455,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.024731204625907412,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003684080413742465,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                "wheel",
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+            },
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+            "forbidden": [],
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+            "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.27020831555681635,
+              -0.32081446380244827,
+              0.8470195501568099
+            ],
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+              0.2629888844892796,
+              -0.3233795712971873,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.007661590004593122,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18677422741221253,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195501568099,
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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_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15507667861428812,
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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": 0.2202868527731723,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006852269172668457,
+            "max_z_decrease": 0.006852269172668457,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513901340200239,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006852269172668457,
+            "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": 0.021102481523495822,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.006852269172668457,
+            "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": 0.006852290462286094,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11868880689144132,
+              -0.3796410262584686,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11868880689144132,
+              -0.3796410262584686,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11986773693311267,
+              -0.3784609808778572,
+              0.8081709511665676
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+            "closest_button": [
+              0.11868296563625333,
+              -0.37964156270027155,
+              0.7730717658996582
+            ],
+            "closest_ee_minus_button": [
+              0.0011847712968593438,
+              0.0011805818224143727,
+              0.03509918526690936
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+            "button_min_z_position": [
+              0.11867173016071315,
+              -0.3796414136886596,
+              0.7699565887451172
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+            "min_active_finger_to_button": 0.14466414101877603,
+            "closest_active_finger": [
+              -0.008207760751247406,
+              -0.4400235414505005,
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+              0.11868933588266369,
+              -0.37964135408401484,
+              0.7767982482910156
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12689709663391108,
+              -0.06038218736648565,
+              0.03433412313461304
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+            "closest_contact_pad": [
+              0.11867173016071315,
+              -0.3797072586706987,
+              0.7910589675420164
+            ],
+            "closest_contact_pad_button": [
+              0.11867173016071315,
+              -0.3796414136886596,
+              0.7699565887451172
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -6.584498203909828e-05,
+              0.021102378796899246
+            ]
+          },
+          "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": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af95bdef6dd00a4badfd798aa409f80c2c7546efe1bceb732b4de78f7afe6418",
+    "visual_seed": 5136902217442597522,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a1c56539b3bff4009925000b8e2f348f43313bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+              0.085485562996147,
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+            "gripper_z": 1.0494957491378123,
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+            "gripper_position": [
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+              0.08087472295476629,
+              1.0494957491378123
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+              0.004610840041380709,
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+            "object_to_gripper_z": -0.002691486904629281,
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+              0.3086233014881751,
+              0.06120873340981714,
+              1.046804262233183
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+            "finger_b": [
+              0.2972619843936721,
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+              1.046804262233183
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+            "finger_midpoint": [
+              0.30294264294092355,
+              0.07334714820298208,
+              1.046804262233183
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+              0.005680658547251527,
+              0.012138414793164923,
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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": 0.8203345987216096,
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+            "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": 1.3320922776191195,
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+                "/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": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "402b7fbf57a9a666190b96e62b70987c8f28feb7fc92ebdd99de1bb1a9277b20",
+    "visual_seed": 5331025009820411909,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf4b6f0aedc3723da00aaf7cab7d48ad995d84df
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_105_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.08951235750594648,
+              1.0465694803585688
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+              1.0492638925049944
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+              0.06508194694086127,
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+              0.07729715222340387,
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+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08716319328030563,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15533033701726517,
+            "release_required_pad_clearance": 0.053581596640152815,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1735708538889553,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0066103339195251465,
+            "max_z_decrease": 0.0066103339195251465,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511647764513266,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0066103339195251465,
+            "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": 0.021253551643502674,
+            "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": 0.0066103339195251465,
+            "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": 0.006610352971746911,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11747109144926068,
+              -0.3723617196083069,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11747109144926068,
+              -0.3723617196083069,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11658428461466372,
+              -0.37418043001779866,
+              0.8080129911060114
+            ],
+            "closest_button": [
+              0.11746022850275034,
+              -0.37236055731773376,
+              0.7729546427726746
+            ],
+            "closest_ee_minus_button": [
+              -0.0008759438880866222,
+              -0.001819872700064895,
+              0.035058348333336875
+            ],
+            "button_min_z_position": [
+              0.1174552589654922,
+              -0.37236061692237854,
+              0.7701985239982605
+            ],
+            "min_active_finger_to_button": 0.1469094509207526,
+            "closest_active_finger": [
+              -0.024787165224552155,
+              -0.36001837253570557,
+              0.8109173774719238
+            ],
+            "closest_active_finger_button": [
+              0.11747210472822185,
+              -0.3723637461662292,
+              0.7763879895210266
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.142259269952774,
+              0.012345373630523626,
+              0.03452938795089722
+            ],
+            "min_contact_pad_to_button": 0.021253551643502674,
+            "closest_contact_pad": [
+              0.1174552589654922,
+              -0.3751629106101486,
+              0.7912665236078703
+            ],
+            "closest_contact_pad_button": [
+              0.1174552589654922,
+              -0.37236061692237854,
+              0.7701985239982605
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028022936877700744,
+              0.02106799960960981
+            ]
+          },
+          "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": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24f5e905bee0867d8ab506084c36ba89013ef20267c247a63f941dfe35abf925",
+    "visual_seed": 6026481800103736724,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..52aa347fd03aff7ccf598b0852e372639c93f5ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.08998868106294591,
+              1.0477064706608752
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+            "lift_margin": 0.19111996325230962,
+            "gripper_z": 1.0504769714935256,
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+            "gripper_position": [
+              0.304380383825298,
+              0.08505594309539066,
+              1.0504769714935256
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+              0.0050697410392641085,
+              0.004932737967555251,
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+            "object_to_gripper_z": -0.002770500832650402,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3094501248645621,
+              0.06569740536915877,
+              1.0477064706608752
+            ],
+            "finger_b": [
+              0.29731152162070684,
+              0.08998868106294591,
+              1.0477064706608752
+            ],
+            "finger_midpoint": [
+              0.3033808232426345,
+              0.07784304321605234,
+              1.0477064706608752
+            ],
+            "object_minus_finger_midpoint": [
+              0.006069301621927592,
+              0.01214563784689357,
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+            ],
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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_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
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+            "stable_success_frames": 217,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84ecf79016d9a7f3e622ce8c66174334164f00cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_107_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.09304225403211162,
+              1.0486440639601777
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+              0.08813786011899696,
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+              0.00490439391311466,
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+            "object_to_gripper_z": -0.002616956518776359,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.0685566511106843,
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+              1.0486440639601777
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+              0.08079945257139796,
+              1.0486440639601777
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+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.090943104833753,
+              1.243217081450505
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+              0.09540896061361588,
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+            "held_grasp_local_up_axis": [
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "object_tilt_deg": 0.38359333579589383,
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+            "object_axis_flip_tolerance_deg": 3.0,
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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": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+              ],
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+    {
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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": {
+            "target": "heat_button",
+            "z_decrease": 0.0067369937896728516,
+            "max_z_decrease": 0.0067369937896728516,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513665600874867,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0067369937896728516,
+            "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": 0.021211222344737934,
+            "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": 0.0067369937896728516,
+            "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": 0.0067370143604269786,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11605706810951232,
+              -0.37646290659904486,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11605706810951232,
+              -0.37646290659904486,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11760230799522745,
+              -0.37737797535349804,
+              0.8080242322914399
+            ],
+            "closest_button": [
+              0.11604689061641693,
+              -0.3764625191688538,
+              0.7729339599609375
+            ],
+            "closest_ee_minus_button": [
+              0.0015554173788105141,
+              -0.0009154561846442255,
+              0.03509027233050244
+            ],
+            "button_min_z_position": [
+              0.11604042351245879,
+              -0.37646326422691345,
+              0.7700718641281128
+            ],
+            "min_active_finger_to_button": 0.14461116888588768,
+            "closest_active_finger": [
+              -0.023503877222537994,
+              -0.3607509136199951,
+              0.810779333114624
+            ],
+            "closest_active_finger_button": [
+              0.1160580664873123,
+              -0.3764638900756836,
+              0.7763125896453857
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395619437098503,
+              0.015712976455688477,
+              0.03446674346923828
+            ],
+            "min_contact_pad_to_button": 0.021211222344737934,
+            "closest_contact_pad": [
+              0.11604042351245879,
+              -0.37853870603897954,
+              0.7911813050170288
+            ],
+            "closest_contact_pad_button": [
+              0.11604042351245879,
+              -0.37646326422691345,
+              0.7700718641281128
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020754418120660922,
+              0.021109440888915976
+            ]
+          },
+          "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": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b98a8702931fddd66fb3cda60f739130e0be4865514315055533b457a7e948a",
+    "visual_seed": 1357064626312402094,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4a06a2702b582834c60f77e26bd746b92fc8a9b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_108_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3098173014759224,
+              0.08939108258600348,
+              1.0455124573269887
+            ],
+            "current_z": 1.0455124573269887,
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+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.18892600952306782,
+            "gripper_z": 1.0480593971210033,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3047779861208346,
+              0.08461922007711237,
+              1.0480593971210033
+            ],
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+              0.005039315355087781,
+              0.0047718625088911115,
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+            "object_to_gripper_xy": 0.006940127596217815,
+            "object_to_gripper_z": -0.0025469397940145466,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3098173014759224,
+              0.06487813967371442,
+              1.0455124573269887
+            ],
+            "finger_b": [
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+              0.08939108258600348,
+              1.0455124573269887
+            ],
+            "finger_midpoint": [
+              0.3040225341493771,
+              0.07713461112985895,
+              1.0455124573269887
+            ],
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+              0.005794767326545325,
+              0.01225647145614453,
+              0.0
+            ],
+            "finger_gap": 0.027114602775927404,
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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": 0.049676914045842166,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4053605482047273,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08734102217778532,
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+              1.235295637481609
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007390848945784497,
+            "max_held_gripper_dist": 0.007394381651114597,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026814791116294145,
+            "max_held_gripper_z_dist": 0.002689509089081943,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08712672432082169,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.06625245723649745,
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+              0.07898684267823705,
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+              1.235295637481609
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+            "held_grasp_finger_gap": 0.027222195248871116,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02490147741686324,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9981653111680289,
+              0.027072107913706844
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004123982006427192,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
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+        "skill": "shake",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              -0.31944978103015137,
+              0.8470196859493665
+            ],
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+              -0.32070138905964646,
+              0.8084375599031817
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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": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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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+            "min_ee_to_button": 0.03508495736513367,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006983637809753418,
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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": 0.021110641078770333,
+            "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": 0.006983637809753418,
+            "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": 0.006983656628348397,
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+              0.11235295236110687,
+              -0.37696284055709833,
+              0.7768088579177856
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+              0.11235295236110687,
+              -0.37696284055709833,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11103706747369324,
+              -0.37656195721833247,
+              0.807433615437289
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+            "closest_button": [
+              0.11234001070261002,
+              -0.37695887684822077,
+              0.7723751068115234
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+              0.00039691962988830376,
+              0.03505850862576554
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+              0.11233673989772797,
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+              -0.3769656419754028,
+              0.7764334082603455
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+              -0.06498456001281744,
+              0.034560322761535645
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+              0.11233673989772797,
+              -0.3774427198679261,
+              0.7909304069398481
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+            "closest_contact_pad_button": [
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+              -0.3769628703594207,
+              0.7698252201080322
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004798495085053811,
+              0.021105186831815836
+            ]
+          },
+          "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": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0a3b5970ed33acef86d376666c8e5bee195252a30d242696cfb7d0e5d9aa1b65",
+    "visual_seed": 4714875117593818921,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f10edb535c3641cb853a3cdccfbbc3d6b4048e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_109_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+    {
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+            "gripper_z": 1.0484636388734772,
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+              0.06552464222134421,
+              1.0458742333450688
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+              1.0458742333450688
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+              0.07768830347144079,
+              1.0458742333450688
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+            "stable_success_frames": 215,
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+          "failed_keys": [],
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8be1606db4f4eff9f9d540435a4806e1660c9178da91ee48449cbae8e2350a50",
+    "visual_seed": 5254151678635328187,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0955519472734cffb5f8e0d6c843347de3d8cd89
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_110_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "stable_success_frames": 217,
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+          "failed_keys": [],
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "ground",
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+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
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+      "skill": "shake",
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+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+          "safety": {
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+              "robot_prim_substrings": [
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+                "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": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
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+            },
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+            "forbidden": [],
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+    {
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+      "skill": "place",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8001476414457536,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00669705867767334,
+            "max_z_decrease": 0.00669705867767334,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510153565454511,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00669705867767334,
+            "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": 0.021106705315032115,
+            "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": 0.00669705867767334,
+            "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": 0.006697074650618088,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11723998934030533,
+              -0.3765764832496643,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11723998934030533,
+              -0.3765764832496643,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11616789087937154,
+              -0.37552037578260256,
+              0.8080309632788001
+            ],
+            "closest_button": [
+              0.11722979694604874,
+              -0.37657600641250605,
+              0.7729613780975342
+            ],
+            "closest_ee_minus_button": [
+              -0.001061906066677193,
+              0.0010556306299034923,
+              0.035069585181265905
+            ],
+            "button_min_z_position": [
+              0.11722537130117415,
+              -0.37657597661018366,
+              0.7701117992401123
+            ],
+            "min_active_finger_to_button": 0.14668572102866612,
+            "closest_active_finger": [
+              -0.01054072380065918,
+              -0.43982750177383423,
+              0.8108037114143372
+            ],
+            "closest_active_finger_button": [
+              0.1172412559390068,
+              -0.3765782415866851,
+              0.7763363718986511
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12778197973966599,
+              -0.0632492601871491,
+              0.034467339515686035
+            ],
+            "min_contact_pad_to_button": 0.021106705315032115,
+            "closest_contact_pad": [
+              0.11722537130117415,
+              -0.37657597661018366,
+              0.7912185045551444
+            ],
+            "closest_contact_pad_button": [
+              0.11722537130117415,
+              -0.37657597661018366,
+              0.7701117992401123
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021106705315032115
+            ]
+          },
+          "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": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ebfc2e7ae74dbb5c4d4681dd223e216ab4265546a1a87bb59c2b748cc6039aad",
+    "visual_seed": 332349614527980938,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ada1d71bdd14e8fae5a36352553634588609696
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_111_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.30863121633330115,
+              0.0955433973418892,
+              1.0469272821147595
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+            "gripper_z": 1.0495582552523919,
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+            "gripper_position": [
+              0.303945788169269,
+              0.09091054484416793,
+              1.0495582552523919
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+              0.004685428164032168,
+              0.004632852497721274,
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+            "object_to_gripper_z": -0.0026309731376323864,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30863121633330115,
+              0.0713512235095089,
+              1.0469272821147595
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+              0.29714689555426477,
+              0.0955433973418892,
+              1.0469272821147595
+            ],
+            "finger_midpoint": [
+              0.30288905594378296,
+              0.08344731042569906,
+              1.0469272821147595
+            ],
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+              0.005742160389518192,
+              0.012096086916190144,
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+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 217,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30913013687261337,
+              0.09337418125821387,
+              1.2404363123463988
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+            "held_position": [
+              0.31413945691872214,
+              0.09757121812097211,
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.03512899739803757,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006635725498199463,
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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": 0.02131512958626402,
+            "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": 0.006635725498199463,
+            "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": 0.006635745421440613,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11206544190645217,
+              -0.3791861832141876,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11206544190645217,
+              -0.3791861832141876,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11099745188677165,
+              -0.38109910706069067,
+              0.8081075324439095
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+            "closest_button": [
+              0.11205607652664182,
+              -0.379186600446701,
+              0.773046612739563
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+            "closest_ee_minus_button": [
+              -0.0010586246398701649,
+              -0.001912506613989673,
+              0.03506091970434655
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+            "button_min_z_position": [
+              0.11204922944307326,
+              -0.3791849315166473,
+              0.7701731324195862
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+            "min_active_finger_to_button": 0.14703483443184823,
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+              -0.030024491250514984,
+              -0.36370113492012024,
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+              0.11206568032503127,
+              -0.37918764352798456,
+              0.7763702869415283
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14209017157554626,
+              0.015486508607864324,
+              0.03449338674545288
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+            "closest_contact_pad": [
+              0.11204922944307326,
+              -0.3823808150126662,
+              0.7912473127822741
+            ],
+            "closest_contact_pad_button": [
+              0.11204922944307326,
+              -0.3791849315166473,
+              0.7701731324195862
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003195883496018903,
+              0.021074180362687933
+            ]
+          },
+          "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": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8be73ad984b1a1296534f05b72b3cfb9fe2f248a7af2713d8429030b313aaf89",
+    "visual_seed": 7972816959812392531,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04a480191f6af97c3a17a5b52d052b07278545bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_112_success.json
@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516360875853925,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006788969039916992,
+            "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": 0.021133566379204494,
+            "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": 0.006788969039916992,
+            "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": 0.006788986536984444,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11325120925903318,
+              -0.3715865612030029,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11325120925903318,
+              -0.3715865612030029,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11504299310342389,
+              -0.3698331427555479,
+              0.8077424063318699
+            ],
+            "closest_button": [
+              0.1132395640015602,
+              -0.3715858161449432,
+              0.7726688385009766
+            ],
+            "closest_ee_minus_button": [
+              0.0018034291018636933,
+              0.0017526733893952762,
+              0.035073567830893326
+            ],
+            "button_min_z_position": [
+              0.11323580145835874,
+              -0.3715869784355163,
+              0.7700198888778687
+            ],
+            "min_active_finger_to_button": 0.14388875922092922,
+            "closest_active_finger": [
+              -0.011479929089546204,
+              -0.4344870448112488,
+              0.8110865354537964
+            ],
+            "closest_active_finger_button": [
+              0.1132531315088272,
+              -0.3715881705284118,
+              0.7765992879867554
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1247330605983734,
+              -0.06289887428283697,
+              0.034487247467041016
+            ],
+            "min_contact_pad_to_button": 0.021133566379204494,
+            "closest_contact_pad": [
+              0.11323580145835874,
+              -0.3715869784355163,
+              0.7911534552570731
+            ],
+            "closest_contact_pad_button": [
+              0.11323580145835874,
+              -0.3715869784355163,
+              0.7700198888778687
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021133566379204494
+            ]
+          },
+          "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": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea3ac1619ff2f5200b5ceaa17b6164478268235ecda2f4710635901e43fe9f06",
+    "visual_seed": 5883896244571187484,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_115_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..190607116defe14a114791b97a904a0c9fc3cf97
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_115_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3116638746683453,
+              0.08917227947504493,
+              1.0446507046946878
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+            "current_z": 1.0446507046946878,
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+            "lift_margin": 0.188064256890767,
+            "gripper_z": 1.0480275942099269,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30616154788267813,
+              0.08420810070905488,
+              1.0480275942099269
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+              0.005502326785667144,
+              0.004964178765990049,
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+            "object_to_gripper_z": -0.0033768895152390677,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3116638746683453,
+              0.06433307347872295,
+              1.0446507046946878
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+            "finger_b": [
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+              0.08917227947504493,
+              1.0446507046946878
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+              0.30573060419938874,
+              0.07675267647688394,
+              1.0446507046946878
+            ],
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+              0.005933270468956531,
+              0.012419602998160986,
+              0.0
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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_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08743372452460305,
+              1.2378802332531946
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+              0.09204319532636195,
+              1.2343664133467944
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.00814331122766168,
+            "max_held_gripper_dist": 0.008145122256031595,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035138199064002062,
+            "max_held_gripper_z_dist": 0.0035264923913784774,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08727162333880568,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.06645304628099069,
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+            "held_grasp_object_position": [
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02535572926135092,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9996758846668806,
+              0.012500623679140512
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004815648918078169,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+            },
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+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.2634789476623691,
+              -0.31224414593953675,
+              0.8470194229452241
+            ],
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+              0.2566717694554116,
+              -0.31482104621447377,
+              0.8084375599031817
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+            "xy_dist": 0.007278604960309908,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1879019221817577,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194229452241,
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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": 0.08699465702835484,
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.05349732851417742,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.006153875377171,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006569206714630127,
+            "max_z_decrease": 0.006569206714630127,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509869111638954,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006569206714630127,
+            "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": 0.021117642243703827,
+            "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": 0.006569206714630127,
+            "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": 0.006569222617898923,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11237169802188873,
+              -0.37108251452445984,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11237169802188873,
+              -0.37108251452445984,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1113148274065453,
+              -0.3699609092565894,
+              0.8079445644035864
+            ],
+            "closest_button": [
+              0.1123620569705963,
+              -0.3710821568965912,
+              0.772879421710968
+            ],
+            "closest_ee_minus_button": [
+              -0.001047229564050997,
+              0.0011212476400017657,
+              0.0350651426926184
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+            "button_min_z_position": [
+              0.11235724389553069,
+              -0.3710823655128479,
+              0.7702396512031555
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+            "min_active_finger_to_button": 0.14665601088685326,
+            "closest_active_finger": [
+              -0.015729740262031555,
+              -0.4335896968841553,
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+            "closest_active_finger_button": [
+              0.11237159371376038,
+              -0.37108489871025085,
+              0.7768083810806274
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.12810133397579193,
+              -0.06250479817390442,
+              0.03451353311538696
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+            "closest_contact_pad": [
+              0.11235724389553069,
+              -0.3710823655128479,
+              0.7913572934468593
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+            "closest_contact_pad_button": [
+              0.11235724389553069,
+              -0.3710823655128479,
+              0.7702396512031555
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021117642243703827
+            ]
+          },
+          "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": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8398838c8d74a643718154d5df037af58cf06de028df0004362efa4fb7b969f3",
+    "visual_seed": 1891734231681417903,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_116_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dfb6e6a356ad069cbf2139034a270c5b0e8527e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_116_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+              1.046371158732686
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+            "gripper_z": 1.0497455931153208,
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+              1.0497455931153208
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+              0.00494908613989091,
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+              0.06561686633289196,
+              1.046371158732686
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+            "finger_b": [
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+              1.046371158732686
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+            "finger_midpoint": [
+              0.3021718854709126,
+              0.07806858248081672,
+              1.046371158732686
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+              0.005856653886376517,
+              0.012451716147924743,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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",
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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"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2894fb34efc457c7afd3bf28abe248712f1daafae7b92ee22a3edb742dc542ca",
+    "visual_seed": 5715817753304921255,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_117_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed540830d1453b74defe2cc2013074daa2462816
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_117_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "shake",
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+          "metrics": {
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+          "safety": {
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
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+      "reason": "executed",
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+        "checker": {
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+          "failure_code": null,
+          "failure_messages": {},
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+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006642341613769531,
+            "max_z_decrease": 0.006642341613769531,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035078498426700994,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006642341613769531,
+            "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": 0.021137173963222747,
+            "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": 0.006642341613769531,
+            "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": 0.006642360458901324,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11723989248275755,
+              -0.37159982323646534,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11723989248275755,
+              -0.37159982323646534,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11772245540285015,
+              -0.3716191796685914,
+              0.8080078584709769
+            ],
+            "closest_button": [
+              0.11722965538501738,
+              -0.37159916758537287,
+              0.7729328274726868
+            ],
+            "closest_ee_minus_button": [
+              0.0004928000178327646,
+              -2.0012083218556853e-05,
+              0.035075030998290124
+            ],
+            "button_min_z_position": [
+              0.11722408235073088,
+              -0.3716004490852355,
+              0.7701665163040161
+            ],
+            "min_active_finger_to_button": 0.14575326414604878,
+            "closest_active_finger": [
+              -0.023702695965766907,
+              -0.35797935724258423,
+              0.8109065890312195
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+            "closest_active_finger_button": [
+              0.11724130064249039,
+              -0.37160131335258473,
+              0.7763631939888
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1409439966082573,
+              0.0136219561100005,
+              0.034543395042419434
+            ],
+            "min_contact_pad_to_button": 0.021137173963222747,
+            "closest_contact_pad": [
+              0.11722408235073088,
+              -0.37251297415697004,
+              0.791283983508797
+            ],
+            "closest_contact_pad_button": [
+              0.11722408235073088,
+              -0.3716004490852355,
+              0.7701665163040161
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009125250717345601,
+              0.021117467204780915
+            ]
+          },
+          "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": 117,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f1db892ee02e9693da4b142c94951f7f05bad8e6ee735556177c350f09c50a2e",
+    "visual_seed": 6768617768941281906,
+    "episode_index": 117,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_118_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_118_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f65a266d1f50015a8333e490fab9b6a660af7123
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_118_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 118,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.09317534496718594,
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+            "gripper_position": [
+              0.3000170032690308,
+              0.08836448445495543,
+              1.0503303686938756
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+            "object_to_gripper_z": -0.0027677399337020514,
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+              0.06893515963970218,
+              1.0475626287601736
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+              1.0475626287601736
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+              0.2989849371341434,
+              0.08105525230344406,
+              1.0475626287601736
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+              0.01212009266374188,
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+            "stable_success_frames": 217,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+        },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.09073932804207857,
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007407875974977113,
+            "max_held_gripper_dist": 0.007409285438583776,
+            "held_gripper_max_dist": 0.15,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "elbow_joint",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "mobile_translate_x",
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+                "panda_joint1",
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+                "panda_joint6",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
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+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.26738177891526377,
+              -0.320979301516936,
+              0.8470195170600143
+            ],
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+              0.26104524740117463,
+              -0.3230634883981093,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841911095993452,
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+            "gripper_away_ok": true,
+            "object_z": 0.8470195170600143,
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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",
+            "release_finger_gap": 0.07577444979302643,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561357546119734,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15217752295728396,
+            "release_required_pad_clearance": 0.05280678773059867,
+            "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": 0.6596759574680466,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006945013999938965,
+            "max_z_decrease": 0.006945013999938965,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035117737940250804,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006945013999938965,
+            "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": 0.021284177167250222,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.006945013999938965,
+            "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": 0.006945033913710467,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11674517393112183,
+              -0.3793249428272247,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11674517393112183,
+              -0.3793249428272247,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11665550621299078,
+              -0.3810800807858093,
+              0.807909534852945
+            ],
+            "closest_button": [
+              0.11673524230718614,
+              -0.37932461500167847,
+              0.7728357911109924
+            ],
+            "closest_ee_minus_button": [
+              -7.973609419535677e-05,
+              -0.0017554657841308274,
+              0.0350737437419526
+            ],
+            "button_min_z_position": [
+              0.11672856658697128,
+              -0.3793240487575531,
+              0.7698638439178467
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+            "min_active_finger_to_button": 0.14612757800757709,
+            "closest_active_finger": [
+              -0.0245702862739563,
+              -0.36546123027801514,
+              0.8112220764160156
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+            "closest_active_finger_button": [
+              0.11674943566322327,
+              -0.37932452559471125,
+              0.7767283916473389
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14131972193717957,
+              0.013863295316696111,
+              0.03449368476867676
+            ],
+            "min_contact_pad_to_button": 0.021284177167250222,
+            "closest_contact_pad": [
+              0.11672856658697128,
+              -0.3821845486173362,
+              0.7909549258777433
+            ],
+            "closest_contact_pad_button": [
+              0.11672856658697128,
+              -0.3793240487575531,
+              0.7698638439178467
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028604998597830944,
+              0.021091081959896618
+            ]
+          },
+          "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": 118,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "02c99ad632e8ef3dca399ae376861b838d49d3adb1385d53ad9abe28b7b1f973",
+    "visual_seed": 8468228854787882247,
+    "episode_index": 118,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_120_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_120_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..13bee91451d6c08f6c5e08bf23b45ba748599de9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_120_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 120,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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+            "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": 0.006803274154663086,
+            "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": 0.006803293883545393,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11703441292047496,
+              -0.3780522942543029,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11703441292047496,
+              -0.3780522942543029,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11727937951120812,
+              -0.3785261440511334,
+              0.8080091282548184
+            ],
+            "closest_button": [
+              0.11702409386634824,
+              -0.3780530393123626,
+              0.7729166150093079
+            ],
+            "closest_ee_minus_button": [
+              0.0002552856448598817,
+              -0.00047310473877076875,
+              0.03509251324551055
+            ],
+            "button_min_z_position": [
+              0.11701803654432294,
+              -0.37805178761482233,
+              0.7700055837631226
+            ],
+            "min_active_finger_to_button": 0.14590343989999455,
+            "closest_active_finger": [
+              -0.023684829473495483,
+              -0.3607155978679657,
+              0.8112298846244812
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+            "closest_active_finger_button": [
+              0.11703500896692273,
+              -0.3780535757541656,
+              0.7768040895462036
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14071983844041822,
+              0.017337977886199896,
+              0.03442579507827759
+            ],
+            "min_contact_pad_to_button": 0.021176765111743757,
+            "closest_contact_pad": [
+              0.11701803654432294,
+              -0.3798356567045945,
+              0.7911070811428945
+            ],
+            "closest_contact_pad_button": [
+              0.11701803654432294,
+              -0.37805178761482233,
+              0.7700055837631226
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017838690897721832,
+              0.02110149737977196
+            ]
+          },
+          "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": 120,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9559edc7971c38d8bcc8bb702b1839988748862ccf6a96faaeb0edc2a524a8b4",
+    "visual_seed": 8328798189081278606,
+    "episode_index": 120,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_121_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb670a7dec4a9d08bc3bd1d17b705c67f513f966
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_121_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31097567189945946,
+              0.08714773220150551,
+              1.0479036551729457
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+            "gripper_z": 1.0506542774134848,
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+            "gripper_position": [
+              0.30569181217003855,
+              0.08219976738142304,
+              1.0506542774134848
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+              0.004947964820082473,
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+            "object_to_gripper_z": -0.0027506222405391245,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31097567189945946,
+              0.0625692398082468,
+              1.0479036551729457
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+              0.08714773220150551,
+              1.0479036551729457
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+            "finger_midpoint": [
+              0.30498472141223687,
+              0.07485848600487616,
+              1.0479036551729457
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+            "object_minus_finger_midpoint": [
+              0.0059909504872225905,
+              0.012289246196629355,
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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_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04897843165412401,
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+            "object_tilt_deg": 0.9092598579351823,
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+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007744761106327834,
+            "max_held_gripper_dist": 0.007746677056886951,
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+            "max_held_gripper_z_dist": 0.0029090132066269536,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08745867668420389,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024896361228481472,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.020962451999317122
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00400472425059031,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
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+        "ordinary_object_physical_only": true
+      }
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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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+              0.8470194087964797
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+              0.8084375599031817
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.3189785049497785,
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+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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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+            "z_decrease_threshold": 0.0003,
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+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00678408145904541,
+            "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": 0.02134202569842677,
+            "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": 0.00678408145904541,
+            "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": 0.0067841021409898224,
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+              0.11123528331518173,
+              -0.3788983225822448,
+              0.7768088579177856
+            ],
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+              0.11123528331518173,
+              -0.3788983225822448,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11185495529239756,
+              -0.3808787202488422,
+              0.8078510071334635
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+            "closest_button": [
+              0.11122442781925201,
+              -0.3788973689079284,
+              0.7727778553962708
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+              0.0006305274731455424,
+              -0.0019813513409137617,
+              0.03507315173719272
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+            "button_min_z_position": [
+              0.11121856421232224,
+              -0.3788972795009612,
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+              -0.029292598366737366,
+              -0.3647003769874573,
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+              -0.3788998425006866,
+              0.776253342628479
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+            "closest_active_finger_minus_button": [
+              -0.140529565513134,
+              0.014199465513229315,
+              0.034536778926849365
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+            "closest_contact_pad": [
+              0.11121856421232224,
+              -0.3820528834391337,
+              0.7911322212282451
+            ],
+            "closest_contact_pad_button": [
+              0.11121856421232224,
+              -0.3788972795009612,
+              0.7700247764587402
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003155603938172491,
+              0.02110744476950488
+            ]
+          },
+          "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": 121,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e1d74d4bfd36decb2e846c42ebcbb23fed264fe201f37b0592a480717ee5e87d",
+    "visual_seed": 4473489214634799020,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_123_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e92c94bb492dee41d5b5055df0e2a60a657ae79f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_123_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "skill": "pick",
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+            "gripper_z": 1.0496289789150526,
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+              0.0048345437655640255,
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+              0.3143550435541468,
+              0.0627609363084723,
+              1.0472735714424994
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+              1.0472735714424994
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+            "finger_midpoint": [
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+              0.07499830861257226,
+              1.0472735714424994
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+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "438f58949bc465ccbba39d0120f38f0e6c442dd8f4c2fa09a56967d1ec7b9e7b",
+    "visual_seed": 2270107730053750826,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_124_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..766eb75a46eb84d4561722737f8b9625cb69c1fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_124_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "passed": true,
+          "metrics": {
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+              "enabled": true
+            },
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+            "forbidden": [],
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+      "skill": "place",
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+      "reason": "executed",
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "target_object": "heater_platform",
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+              "allowed_objects": [
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.0068885087966918945,
+            "max_z_decrease": 0.0068885087966918945,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035106518329618586,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0068885087966918945,
+            "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": 0.02118774954477999,
+            "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": 0.0068885087966918945,
+            "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": 0.006888528390137317,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11569267511367799,
+              -0.3710743188858032,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11569267511367799,
+              -0.3710743188858032,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11693785537988008,
+              -0.37172506710120784,
+              0.8076797205486062
+            ],
+            "closest_button": [
+              0.11568187922239305,
+              -0.371073693037033,
+              0.7726017236709595
+            ],
+            "closest_ee_minus_button": [
+              0.0012559761574870293,
+              -0.0006513740641748145,
+              0.03507799687764668
+            ],
+            "button_min_z_position": [
+              0.11567625403404237,
+              -0.3710748553276062,
+              0.7699203491210938
+            ],
+            "min_active_finger_to_button": 0.14494610387156717,
+            "closest_active_finger": [
+              -0.024343088269233704,
+              -0.3566672205924988,
+              0.8110381364822388
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+            "closest_active_finger_button": [
+              0.11569458246231082,
+              -0.3710760772228241,
+              0.7765242457389832
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14003767073154452,
+              0.014408856630325317,
+              0.034513890743255615
+            ],
+            "min_contact_pad_to_button": 0.02118774954477999,
+            "closest_contact_pad": [
+              0.11567625403404237,
+              -0.3727691622933339,
+              0.7910402462486418
+            ],
+            "closest_contact_pad_button": [
+              0.11567625403404237,
+              -0.3710748553276062,
+              0.7699203491210938
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016943069657276988,
+              0.021119897127548026
+            ]
+          },
+          "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": 124,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8ee6fd6cef0ae0c1c50e65b545fce8dcd86cfd063fbf8608406fe372bcc6d5c8",
+    "visual_seed": 145279215551030603,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86553c5ea3bf49b39d691440d31560f5ec807e41
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31421910744100706,
+              0.09538236238439211,
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+            "gripper_z": 1.0478096695353496,
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+            "gripper_position": [
+              0.30887493465444527,
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+              0.004888543405700954,
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+            "object_to_gripper_z": -0.003188194615662443,
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+              0.07048897231669934,
+              1.0446214749196872
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+              0.3084509020704538,
+              0.08293566735054572,
+              1.0446214749196872
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+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+        },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007912996479807444,
+            "max_held_gripper_dist": 0.007914889409802712,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033330609937174405,
+            "max_held_gripper_z_dist": 0.0033432565132318626,
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+            "held_object_xy_range": 0.08746682209329645,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "festo",
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+                "fr3_joint1",
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+                "fr3_joint4",
+                "fr3_joint5",
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+                "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",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+            },
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.2682672649665366,
+              -0.31788623772689273,
+              0.8470194492313486
+            ],
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+              0.26084578830238603,
+              -0.3208253254770383,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007982264884078133,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18591683052141464,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194492313486,
+            "min_z": 0.5730800627579278,
+            "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": 0.07520646482181163,
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+            "release_fingertip_min_gap": 0.08680848736864637,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15552307143995295,
+            "release_required_pad_clearance": 0.053404243684323185,
+            "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": 1.82343176470573,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0070686936378479,
+            "max_z_decrease": 0.0070686936378479,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035084659203545934,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0070686936378479,
+            "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": 0.021132822959557332,
+            "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": 0.0070686936378479,
+            "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": 0.007068715275902271,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11654571443796156,
+              -0.3770867884159088,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11654571443796156,
+              -0.3770867884159088,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11695566700657792,
+              -0.3769140616922931,
+              0.8076654315173648
+            ],
+            "closest_button": [
+              0.11653454601764678,
+              -0.3770864009857177,
+              0.7725837230682373
+            ],
+            "closest_ee_minus_button": [
+              0.00042112098893114236,
+              0.00017233929342463927,
+              0.0350817084491275
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+            "button_min_z_position": [
+              0.11652822792530057,
+              -0.3770871460437774,
+              0.7697401642799377
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+            "min_active_finger_to_button": 0.14576278535885845,
+            "closest_active_finger": [
+              -0.010633282363414764,
+              -0.43944379687309265,
+              0.8107947707176208
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+            "closest_active_finger_button": [
+              0.11654604971408843,
+              -0.37708777189254755,
+              0.7763864398002625
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271793320775032,
+              -0.0623560249805451,
+              0.0344083309173584
+            ],
+            "min_contact_pad_to_button": 0.021132822959557332,
+            "closest_contact_pad": [
+              0.11652822792530057,
+              -0.37807257253950566,
+              0.7908499994489179
+            ],
+            "closest_contact_pad_button": [
+              0.11652822792530057,
+              -0.3770871460437774,
+              0.7697401642799377
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009854264957282477,
+              0.02110983516898013
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "952b5c32741b4c809a5fa5e9664de54e18d46837b5235cdc2dfc44cc102143aa",
+    "visual_seed": 1477980100947118944,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_130_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_130_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..efa15ee03fced01e7d569687038c0ef961524423
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_130_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 130,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
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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": 0.00666798988999955,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1159727424383163,
+              -0.37685462832450867,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1159727424383163,
+              -0.37685462832450867,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11530223730681932,
+              -0.3782340197467797,
+              0.8080961798868855
+            ],
+            "closest_button": [
+              0.11596341431140895,
+              -0.3768549859523773,
+              0.7730196714401245
+            ],
+            "closest_ee_minus_button": [
+              -0.0006611770045896331,
+              -0.0013790337944024067,
+              0.03507650844676102
+            ],
+            "button_min_z_position": [
+              0.11595713347196576,
+              -0.37685427069664,
+              0.7701408863067627
+            ],
+            "min_active_finger_to_button": 0.14670336334800016,
+            "closest_active_finger": [
+              -0.025758974254131317,
+              -0.36117884516716003,
+              0.8108072280883789
+            ],
+            "closest_active_finger_button": [
+              0.11597338318824765,
+              -0.37685638666152954,
+              0.7763394117355347
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14173235744237897,
+              0.015677541494369507,
+              0.03446781635284424
+            ],
+            "min_contact_pad_to_button": 0.021237251876418155,
+            "closest_contact_pad": [
+              0.11595713347196576,
+              -0.37944773903011697,
+              0.7912191876914967
+            ],
+            "closest_contact_pad_button": [
+              0.11595713347196576,
+              -0.37685427069664,
+              0.7701408863067627
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002593468333476956,
+              0.02107830138473399
+            ]
+          },
+          "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": 130,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "342a61b8ea3b086faf6b0c14863f3b7d89ab86acb547413214e3449a85a1c308",
+    "visual_seed": 7943551298558207565,
+    "episode_index": 130,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_135_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_135_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..823be4b47daac76454495995b413c1f08f2698f6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_135_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 135,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3127114329021084,
+              0.08917475795016457,
+              1.0477545093530825
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+            "required_z": 0.8565865074085656,
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+            "lift_margin": 0.19116800194451689,
+            "gripper_z": 1.051049984373736,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3073590836233775,
+              0.08428504524944612,
+              1.051049984373736
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+              0.005352349278730906,
+              0.004889712700718446,
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+            "object_to_gripper_z": -0.0032954750206535266,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3127114329021084,
+              0.06427818290964651,
+              1.0477545093530825
+            ],
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+              0.08917475795016457,
+              1.0477545093530825
+            ],
+            "finger_midpoint": [
+              0.3069409258279512,
+              0.07672647042990555,
+              1.0477545093530825
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+            "object_minus_finger_midpoint": [
+              0.005770507074157216,
+              0.012448287520259019,
+              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_to_finger_line_xy": 0.010470710582913616,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896799093420916,
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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": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08692997997414155,
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+              0.09147397939485453,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00796459962320555,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034388978146915328,
+            "max_held_gripper_z_dist": 0.0034483075308415767,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649991351810221,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.06583163189989692,
+              1.236935098083791
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+              0.07865280564737573,
+              1.236935098083791
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+            "held_grasp_object_position": [
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+              0.09147397939485453,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02541950917633778,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9997492059090409,
+              0.004260509760171337
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004638787989539768,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032274063008252106,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
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+              -0.3193196517055168,
+              0.8470196055777539
+            ],
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+              0.25986579825154177,
+              -0.3223839663867808,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.007716283959586167,
+            "xy_threshold": 0.08,
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196055777539,
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1541851371679531,
+            "release_required_pad_clearance": 0.05412772074449658,
+            "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": 3.2696477451759827,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006949961185455322,
+            "max_z_decrease": 0.006949961185455322,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518030429041951,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006949961185455322,
+            "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": 0.021344165170269814,
+            "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": 0.006949961185455322,
+            "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": 0.006949980655494008,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11556572467088697,
+              -0.3786454200744629,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11556572467088697,
+              -0.3786454200744629,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1171997263387271,
+              -0.380648717159082,
+              0.8078029854929737
+            ],
+            "closest_button": [
+              0.1155544966459274,
+              -0.37864452600479126,
+              0.7727183699607849
+            ],
+            "closest_ee_minus_button": [
+              0.0016452296927997045,
+              -0.0020041911542907354,
+              0.03508461553218878
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+            "button_min_z_position": [
+              0.11554927378892894,
+              -0.3786454498767852,
+              0.7698588967323303
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+            "closest_active_finger": [
+              -0.023933634161949158,
+              -0.36425504088401794,
+              0.8111202120780945
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+              0.11556729674339292,
+              -0.3786457777023315,
+              0.7766458988189697
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.13950093090534207,
+              0.014390736818313543,
+              0.034474313259124756
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+            "min_contact_pad_to_button": 0.021344165170269814,
+            "closest_contact_pad": [
+              0.11554927378892894,
+              -0.3817957772722667,
+              0.790969292846971
+            ],
+            "closest_contact_pad_button": [
+              0.11554927378892894,
+              -0.3786454498767852,
+              0.7698588967323303
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003150327395481489,
+              0.021110396114640717
+            ]
+          },
+          "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": 135,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd5b07715d0aaf92937da666bcf609a87d8c231a2cc3ddbfe290b97981d0466e",
+    "visual_seed": 4185630981654513772,
+    "episode_index": 135,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_136_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_136_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8ea8530b22395bb108e12e3ec966aaf34b07212
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_136_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 136,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+            "active_arm": null,
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+            "gripper_z": 1.0481501119969876,
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+              0.30544129463043534,
+              0.08418268376324561,
+              1.0481501119969876
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+              0.00523434478703666,
+              0.0049597277188871,
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+            "object_to_gripper_z": -0.0027221008026130367,
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+              0.06465675764987072,
+              1.0454280111943746
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+              0.08914241148213271,
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+              0.30463705638313254,
+              0.07689958456600171,
+              1.0454280111943746
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+              0.006038583034339462,
+              0.012242826916131003,
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+            "finger_gap": 0.02730210951270642,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
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+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 136,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1bbdf6e7fa5b5667214ead5988ca3b273933a172c635d675e330592e8842aa15",
+    "visual_seed": 9066565509175551356,
+    "episode_index": 136,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
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+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_137_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_137_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfe7aa9a2a0bc0b89993afcee32e41f7269d9f1c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_137_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 137,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+          "failure_messages": {},
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
+                "groundplane",
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+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_messages": {},
+          "safety": {
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+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "forbidden": [],
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+    {
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+        "checker": {
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+            "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_b",
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+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0069735050201416016,
+            "max_z_decrease": 0.0069735050201416016,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509764568658939,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0069735050201416016,
+            "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": 0.021111989352232317,
+            "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": 0.0069735050201416016,
+            "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": 0.006973528412923267,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11558325588703153,
+              -0.3759048581123352,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11558325588703153,
+              -0.3759048581123352,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11501962318642348,
+              -0.3749338214092628,
+              0.8076392132410047
+            ],
+            "closest_button": [
+              0.11557167768478392,
+              -0.37590479850769043,
+              0.7725593447685242
+            ],
+            "closest_ee_minus_button": [
+              -0.0005520544983604464,
+              0.0009709770984276389,
+              0.03507986847248057
+            ],
+            "button_min_z_position": [
+              0.1155651956796646,
+              -0.37590456008911133,
+              0.769835352897644
+            ],
+            "min_active_finger_to_button": 0.14627908976584442,
+            "closest_active_finger": [
+              -0.012818500399589539,
+              -0.4369484782218933,
+              0.8108112812042236
+            ],
+            "closest_active_finger_button": [
+              0.11558437347412107,
+              -0.37590649724006653,
+              0.7763997912406921
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1284028738737106,
+              -0.06104198098182678,
+              0.034411489963531494
+            ],
+            "min_contact_pad_to_button": 0.021111989352232317,
+            "closest_contact_pad": [
+              0.1155651956796646,
+              -0.3762105657703363,
+              0.7909451244485592
+            ],
+            "closest_contact_pad_button": [
+              0.1155651956796646,
+              -0.37590456008911133,
+              0.769835352897644
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003060056812249634,
+              0.021109771550915202
+            ]
+          },
+          "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": 137,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "54495212d707ad9c069a61e40d7b02a8133c65a3e32043e01a11b19e77c3562e",
+    "visual_seed": 7866425060391370709,
+    "episode_index": 137,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_138_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_138_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ff10dd5c67cd56ca8356ad83719bf23aacbdd21
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_138_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 138,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.09066610198084045,
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+              0.30429560384776644,
+              0.08586981963894819,
+              1.0497349246185783
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+              0.0047962823418922634,
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+            "object_to_gripper_z": -0.0027168161305499705,
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+              0.06648676835322868,
+              1.0470181084880283
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+            "finger_b": [
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+            "finger_midpoint": [
+              0.3032037284619763,
+              0.07857643516703457,
+              1.0470181084880283
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+              0.012089666813805883,
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.00733700853329858,
+            "max_held_gripper_dist": 0.007342222592327748,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028403671075305503,
+            "max_held_gripper_z_dist": 0.0028481885183995193,
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+            "held_object_xy_range": 0.08622055345131811,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.06718006570813448,
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+              0.07990171757857407,
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
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+              -0.31681646114212136,
+              0.8470196737943221
+            ],
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+              0.2632877016016948,
+              -0.318630684686757,
+              0.8084375599031817
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+            "xy_threshold": 0.08,
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+            "object_z": 0.8470196737943221,
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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",
+            "release_finger_gap": 0.07526440787801207,
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+            "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,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7454568745005626,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006827712059020996,
+            "max_z_decrease": 0.006827712059020996,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035096546268493366,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006827712059020996,
+            "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": 0.021129581748189945,
+            "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": 0.006827712059020996,
+            "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": 0.006827730707728029,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11898762732744214,
+              -0.3748921453952789,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11898762732744214,
+              -0.3748921453952789,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11992119357429187,
+              -0.37480501098541835,
+              0.807992867789044
+            ],
+            "closest_button": [
+              0.1189780235290527,
+              -0.37489199638366694,
+              0.7729091048240662
+            ],
+            "closest_ee_minus_button": [
+              0.0009431700452391667,
+              8.698539824858464e-05,
+              0.03508376296497784
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+            "button_min_z_position": [
+              0.11897167563438413,
+              -0.37489259243011475,
+              0.7699811458587646
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+            "min_active_finger_to_button": 0.14532352330558942,
+            "closest_active_finger": [
+              -0.021390169858932495,
+              -0.35994112491607666,
+              0.8112903833389282
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+            "closest_active_finger_button": [
+              0.11898808926343915,
+              -0.3748933970928192,
+              0.7768041491508484
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14037825912237165,
+              0.014952272176742554,
+              0.034486234188079834
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+            "min_contact_pad_to_button": 0.021129581748189945,
+            "closest_contact_pad": [
+              0.11897167563438413,
+              -0.375804035409317,
+              0.7910910605092104
+            ],
+            "closest_contact_pad_button": [
+              0.11897167563438413,
+              -0.37489259243011475,
+              0.7699811458587646
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009114429792022594,
+              0.02110991465044576
+            ]
+          },
+          "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": 138,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a5b08878c6ec983af9d66c225b74062ad402748815bb41345a7feced9508771f",
+    "visual_seed": 5177059873877272714,
+    "episode_index": 138,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_139_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_139_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a254aaf135a4bb81b9c6658dcb5f6d9f013fe69
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_139_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 139,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.31265171389832624,
+              0.08595020337386193,
+              1.0471299242623755
+            ],
+            "current_z": 1.0471299242623755,
+            "required_z": 0.8565867458271447,
+            "initial_z": 0.7565867458271447,
+            "lift_margin": 0.19054317843523083,
+            "gripper_z": 1.0496513737216786,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3077236633535031,
+              0.08109377219092073,
+              1.0496513737216786
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+            "closest_contact_pad": [
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+              -0.37812280654907227,
+              0.7910749358707939
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+              -0.37812280654907227,
+              0.769966721534729
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+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021108214336064912
+            ]
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "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": 139,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91b6f9bcbb638e72c87769277ad1ba73c541f1164ab412982fa6b810dc46076c",
+    "visual_seed": 8607365413888094810,
+    "episode_index": 139,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08b3e285dc429f453f6486fa97dbe86a20ff7926
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              1.0465228737412307
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+            "stable_success_frames": 216,
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+          "failed_keys": [],
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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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"
+              ],
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.26274314515546887,
+              -0.3191939095922742,
+              0.8470195784382261
+            ],
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+              0.25564276465074065,
+              -0.32183969611448887,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007577307545101838,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1863721488438929,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195784382261,
+            "min_z": 0.5730800627579278,
+            "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": 0.07583462005760708,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562337027795926,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15414954913323417,
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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": 0.6691004031872855,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00675511360168457,
+            "max_z_decrease": 0.00675511360168457,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509535997846665,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00675511360168457,
+            "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": 0.021163618247173322,
+            "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": 0.00675511360168457,
+            "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": 0.006755134055977263,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11134269088506699,
+              -0.37810114026069636,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11134269088506699,
+              -0.37810114026069636,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11251464538170045,
+              -0.37845609883501574,
+              0.8078728448353556
+            ],
+            "closest_button": [
+              0.1113314926624298,
+              -0.3780988454818725,
+              0.7727992534637451
+            ],
+            "closest_ee_minus_button": [
+              0.0011831527192706498,
+              -0.0003572533531432387,
+              0.03507359137161048
+            ],
+            "button_min_z_position": [
+              0.11132606863975525,
+              -0.37810134887695307,
+              0.7700537443161011
+            ],
+            "min_active_finger_to_button": 0.14505659369304136,
+            "closest_active_finger": [
+              -0.02877214550971985,
+              -0.3634728789329529,
+              0.8108403086662292
+            ],
+            "closest_active_finger_button": [
+              0.11134523153305052,
+              -0.37810304760932917,
+              0.7762788534164429
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14011737704277039,
+              0.014630168676376287,
+              0.03456145524978638
+            ],
+            "min_contact_pad_to_button": 0.021163618247173322,
+            "closest_contact_pad": [
+              0.11132606863975525,
+              -0.37947242660945385,
+              0.7911729034651659
+            ],
+            "closest_contact_pad_button": [
+              0.11132606863975525,
+              -0.37810134887695307,
+              0.7700537443161011
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013710777325007806,
+              0.021119159149064815
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d453f58571b4e18e1d106b2b19241035e62182ec00c0857ee9c4ee05389c25c",
+    "visual_seed": 3556136080802685358,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_140_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_140_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..60d2beb3fa93700862e17259eab2b2a1fea734b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_140_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 140,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3052018544593146,
+              0.08746304407565544,
+              1.0480147051406692
+            ],
+            "current_z": 1.0480147051406692,
+            "required_z": 0.8565865074085656,
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+            "lift_margin": 0.19142819773210362,
+            "gripper_z": 1.0510143138059755,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3000574981259785,
+              0.08256341670956106,
+              1.0510143138059755
+            ],
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+              0.0051443563333360975,
+              0.004899627366094381,
+              -0.0029996086653063525
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+            "object_to_gripper_z": -0.0029996086653063525,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3052018544593146,
+              0.06301781255079701,
+              1.0480147051406692
+            ],
+            "finger_b": [
+              0.29323943708758815,
+              0.08746304407565544,
+              1.0480147051406692
+            ],
+            "finger_midpoint": [
+              0.29922064577345137,
+              0.07524042831322622,
+              1.0480147051406692
+            ],
+            "object_minus_finger_midpoint": [
+              0.005981208685863215,
+              0.012222615762429223,
+              0.0
+            ],
+            "finger_gap": 0.027215230546135647,
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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": 0.8067969996027676,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04820899350540385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.46084066097800563,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "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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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
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+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
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+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "482b919fe292bef70209186d0cd555ef2f0aad01e0e85955e854c210f8828476",
+    "visual_seed": 8187581420778252919,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_141_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_141_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..01b2e381b437c55cb1a609322d2b332f762e914d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_141_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 141,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "split_aloha",
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+                "ur5e",
+                "visuals",
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+                "wrist_2_joint",
+                "wrist_3_joint"
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+      "skill": "shake",
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+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+              "robot_prim_substrings": [
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+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+            "max_placed_release_frames": 150
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "held_object": "beaker_b",
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+                "beaker_b",
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
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+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006743311882019043,
+            "max_z_decrease": 0.006743311882019043,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513047792797729,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006743311882019043,
+            "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": 0.021172703480859482,
+            "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": 0.006743311882019043,
+            "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": 0.006743332666156683,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11525648087263105,
+              -0.37787219882011414,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11525648087263105,
+              -0.37787219882011414,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1169188358789546,
+              -0.3783444681906209,
+              0.8079786514077167
+            ],
+            "closest_button": [
+              0.11524577438831325,
+              -0.37787145376205444,
+              0.7728912234306335
+            ],
+            "closest_ee_minus_button": [
+              0.0016730614906413505,
+              -0.0004730144285664539,
+              0.035087427977083196
+            ],
+            "button_min_z_position": [
+              0.11523973941802976,
+              -0.37787237763404846,
+              0.7700655460357666
+            ],
+            "min_active_finger_to_button": 0.14454743214812513,
+            "closest_active_finger": [
+              -0.024238668382167816,
+              -0.36220356822013855,
+              0.810819149017334
+            ],
+            "closest_active_finger_button": [
+              0.11525715142488477,
+              -0.37787312269210815,
+              0.7763323187828064
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13949581980705258,
+              0.015669554471969604,
+              0.03448683023452759
+            ],
+            "min_contact_pad_to_button": 0.021172703480859482,
+            "closest_contact_pad": [
+              0.11523973941802976,
+              -0.37947097311258243,
+              0.7911778141560897
+            ],
+            "closest_contact_pad_button": [
+              0.11523973941802976,
+              -0.37787237763404846,
+              0.7700655460357666
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015985954785339707,
+              0.021112268120323074
+            ]
+          },
+          "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": 141,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "87b9645c6a0ad6326e8a8531ec80a21334a380b9642132263361a109c630fb1b",
+    "visual_seed": 7961996467548420644,
+    "episode_index": 141,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_142_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_142_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..42666778207ec107142f6774d2574007950c3793
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_142_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 142,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3118071540732219,
+              0.0859585223072998,
+              1.045200896576024
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+            "lift_margin": 0.18861450837674798,
+            "gripper_z": 1.0477602307595213,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3067642668526145,
+              0.081048848109655,
+              1.0477602307595213
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+              0.005042887220607417,
+              0.004909674197644806,
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+            "object_to_gripper_z": -0.002559334183497297,
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+              0.3118071540732219,
+              0.061644336591759295,
+              1.045200896576024
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+              0.0859585223072998,
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+              0.305785470322807,
+              0.07380142944952955,
+              1.045200896576024
+            ],
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+              0.006021683750414897,
+              0.012157092857770252,
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+            "finger_gap": 0.02713341717826631,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884944441992768,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.0833197323772454,
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+              0.08770368162642272,
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007489286323299843,
+            "max_held_gripper_dist": 0.007493025027386741,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002690704159477253,
+            "max_held_gripper_z_dist": 0.0026997292447432653,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08750676139824079,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
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+            "held_grasp_finger_a": [
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+            "held_grasp_object_position": [
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+              0.08770368162642272,
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+            "held_grasp_finger_gap": 0.027311076546941208,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024641857086617244,
+            "held_grasp_world_z_skew": 0.0,
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+                "Robotiq2F85",
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+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "mobile_rotate",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+            },
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+            "last_frame": {
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+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.26669433387348457,
+              -0.32022811610680446,
+              0.8470196852675503
+            ],
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+              0.2598876761932807,
+              -0.32233988942505887,
+              0.8084375599031817
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18593622170989124,
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+            "gripper_away_ok": true,
+            "object_z": 0.8470196852675503,
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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",
+            "release_finger_gap": 0.07513430676688615,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641736054723238,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15554786127588768,
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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": 1.4385541148801082,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0068909525871276855,
+            "max_z_decrease": 0.0068909525871276855,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512274057255926,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0068909525871276855,
+            "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": 0.021116062605160524,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.0068909525871276855,
+            "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": 0.006890976628489535,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11558759957551955,
+              -0.37860134243965143,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11558759957551955,
+              -0.37860134243965143,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11652688550581433,
+              -0.3769984922706669,
+              0.8078810183886675
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+            "closest_button": [
+              0.11557754129171369,
+              -0.37860006093978876,
+              0.7728076577186584
+            ],
+            "closest_ee_minus_button": [
+              0.0009493442141006447,
+              0.0016015686691218667,
+              0.0350733606700091
+            ],
+            "button_min_z_position": [
+              0.11556939780712126,
+              -0.37860116362571716,
+              0.769917905330658
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+            "min_active_finger_to_button": 0.14470087047718155,
+            "closest_active_finger": [
+              -0.0097883939743042,
+              -0.442080020904541,
+              0.8106629252433777
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+            "closest_active_finger_button": [
+              0.11558887362480162,
+              -0.37860345840454096,
+              0.7761722207069397
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12537726759910583,
+              -0.06347656250000006,
+              0.03449070453643799
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+            "min_contact_pad_to_button": 0.021116062605160524,
+            "closest_contact_pad": [
+              0.11556939780712126,
+              -0.37860116362571716,
+              0.7910339679358185
+            ],
+            "closest_contact_pad_button": [
+              0.11556939780712126,
+              -0.37860116362571716,
+              0.769917905330658
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021116062605160524
+            ]
+          },
+          "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": 142,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9460a4c2744f2808393a6fee425c31d05063b36466e158965bf6fef5dbdb4e35",
+    "visual_seed": 3349328089668767723,
+    "episode_index": 142,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_143_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_143_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e20796d97861ec3f8ebfc1149fa2def9cbf98a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_143_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 143,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
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+              0.08908302798645622,
+              1.047205648906632
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+            "current_z": 1.047205648906632,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.1906192607073558,
+            "gripper_z": 1.049898707883238,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3066776832771101,
+              0.08413318768998859,
+              1.049898707883238
+            ],
+            "object_minus_gripper": [
+              0.005158878227871422,
+              0.004949840296467625,
+              -0.0026930589766060997
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+            "object_to_gripper_xy": 0.007149471556034089,
+            "object_to_gripper_z": -0.0026930589766060997,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3118365615049815,
+              0.06466585361822584,
+              1.047205648906632
+            ],
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+              0.014135181903839056,
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+              0.12060069292783737,
+              -0.3789421824271962,
+              0.7910095389263619
+            ],
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+              0.12060069292783737,
+              -0.37598782777786255,
+              0.7699377536773682
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002954354649333635,
+              0.02107178524899378
+            ]
+          },
+          "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": 143,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "488292a082e580818f46343d5cec9bf48a22cc0bd6e570153ad6f7b4053ba7f9",
+    "visual_seed": 3533360688822330311,
+    "episode_index": 143,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_144_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_144_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab53a4fa38e6dc66850efdd6a2b0998879cbb3b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_144_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 144,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+              0.06406079482581133,
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+              0.0762268326899595,
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+            "stable_success_frames": 216,
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+          "failed_keys": [],
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+          "failure_messages": {},
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "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",
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+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
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+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.26228912789482683,
+              -0.32022228276092846,
+              0.8470196281361047
+            ],
+            "target_position": [
+              0.2555608248666343,
+              -0.32252873888890815,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18644199837911427,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196281361047,
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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",
+            "release_finger_gap": 0.07560448503009588,
+            "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": 0.1547389878168536,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006834566593170166,
+            "max_z_decrease": 0.006834566593170166,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351021471847042,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006834566593170166,
+            "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": 0.021079939747099482,
+            "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": 0.006834566593170166,
+            "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": 0.006834591069812992,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11126074939966202,
+              -0.3787901997566222,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11126074939966202,
+              -0.3787901997566222,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1099193876236697,
+              -0.3777646039195955,
+              0.8077327637006417
+            ],
+            "closest_button": [
+              0.11124949902296066,
+              -0.3787896037101745,
+              0.7726708054542542
+            ],
+            "closest_ee_minus_button": [
+              -0.0013301113992909563,
+              0.0010249997905790176,
+              0.03506195824638758
+            ],
+            "button_min_z_position": [
+              0.11124245822429657,
+              -0.37879028916358937,
+              0.7699742913246155
+            ],
+            "min_active_finger_to_button": 0.1469548458081866,
+            "closest_active_finger": [
+              -0.01788223534822464,
+              -0.43986979126930237,
+              0.8109913468360901
+            ],
+            "closest_active_finger_button": [
+              0.1112610027194023,
+              -0.37879243493080134,
+              0.7765340209007263
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12914323806762695,
+              -0.06107735633850103,
+              0.03445732593536377
+            ],
+            "min_contact_pad_to_button": 0.021079939747099482,
+            "closest_contact_pad": [
+              0.11124245822429657,
+              -0.37897372220723136,
+              0.7910534329594128
+            ],
+            "closest_contact_pad_button": [
+              0.11124245822429657,
+              -0.37879028916358937,
+              0.7699742913246155
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00018343304364198953,
+              0.021079141634797294
+            ]
+          },
+          "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": 144,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5306b0202b5b0478c194b6b4d569ac8201beb241df351e91a84b82bdc3ea6260",
+    "visual_seed": 2075615520539164277,
+    "episode_index": 144,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_146_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_146_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..026defc702fab30c79dae432834378336f56adae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_146_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 146,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31388265450975267,
+              0.08885642825537635,
+              1.0485031183679596
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+            "current_z": 1.0485031183679596,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19191661095939405,
+            "gripper_z": 1.0509442835884508,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3089745989377092,
+              0.0840600017057073,
+              1.0509442835884508
+            ],
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+              0.00490805557204349,
+              0.004796426549669053,
+              -0.0024411652204912038
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+            "object_to_gripper_z": -0.0024411652204912038,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31388265450975267,
+              0.06460383498925701,
+              1.0485031183679596
+            ],
+            "finger_b": [
+              0.3020394212362782,
+              0.08885642825537635,
+              1.0485031183679596
+            ],
+            "finger_midpoint": [
+              0.30796103787301543,
+              0.07673013162231668,
+              1.0485031183679596
+            ],
+            "object_minus_finger_midpoint": [
+              0.005921616636737237,
+              0.012126296633059669,
+              0.0
+            ],
+            "finger_gap": 0.026989821312890346,
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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": 1.094989397547177,
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+            "object_projection_between_fingers": 0.8074513187504697,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04908701753909685,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0807877180819767,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "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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+        "ordinary_object_physical_only": true
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
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+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
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+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8bb08863a8230010c197e075f2f355fd9324f70bcd1688df57161b91074f0b9b",
+    "visual_seed": 9055465503317112549,
+    "episode_index": 146,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_147_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_147_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..754d94862924e52f3e7a8a2dfe34e7fa3c218915
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_147_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 147,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+                "Robotiq2F85",
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+                "dummy_base_prismatic_x_joint",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
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+                "ur16e",
+                "ur5e",
+                "visuals",
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+                "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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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "metrics": {
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+          "failure_messages": {},
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+              "held_object": "beaker_b",
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
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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": [
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+            "forbidden": [],
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+        "checker": {
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+            "max_placed_release_frames": 151
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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+                "heater_platform"
+              ],
+              "allowed_object_paths": [
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+                "/World/target_beaker"
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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",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006644248962402344,
+            "max_z_decrease": 0.006644248962402344,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515661358984817,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006644248962402344,
+            "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": 0.021125582908192442,
+            "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": 0.006644248962402344,
+            "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": 0.006644270054562709,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11213479936122894,
+              -0.3712408244609832,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11213479936122894,
+              -0.3712408244609832,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1139427222025938,
+              -0.36983786166930993,
+              0.8079102012530951
+            ],
+            "closest_button": [
+              0.11212395876646042,
+              -0.3712406158447265,
+              0.7728286981582642
+            ],
+            "closest_ee_minus_button": [
+              0.0018187634361333804,
+              0.0014027541754165762,
+              0.035081503094830935
+            ],
+            "button_min_z_position": [
+              0.11211806535720824,
+              -0.37124133110046376,
+              0.7701646089553833
+            ],
+            "min_active_finger_to_button": 0.14402586285202487,
+            "closest_active_finger": [
+              -0.013322316110134125,
+              -0.4330214858055115,
+              0.8112390637397766
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+            "closest_active_finger_button": [
+              0.11213690787553786,
+              -0.37124297022819513,
+              0.7767884135246277
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.125459223985672,
+              -0.06177851557731634,
+              0.034450650215148926
+            ],
+            "min_contact_pad_to_button": 0.021125582908192442,
+            "closest_contact_pad": [
+              0.11211806535720824,
+              -0.37124133110046376,
+              0.7912901918635757
+            ],
+            "closest_contact_pad_button": [
+              0.11211806535720824,
+              -0.37124133110046376,
+              0.7701646089553833
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021125582908192442
+            ]
+          },
+          "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": 147,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae3509017a27219789a4dd90af6d555efea2888dd7e18a7308757a83a23d2185",
+    "visual_seed": 3665936036613591605,
+    "episode_index": 147,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_148_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_148_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..603c7dfb34672fa74737baadec12bead63fb15b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_148_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 148,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.09485205486026214,
+              1.045347640607464
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+            "gripper_z": 1.0484604921905492,
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+            "gripper_position": [
+              0.3021954624007641,
+              0.08991110209778545,
+              1.0484604921905492
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+              0.004940952762476691,
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+            "object_to_gripper_z": -0.0031128515830851633,
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+              0.3075887719809855,
+              0.07009244080842483,
+              1.045347640607464
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+              0.09485205486026214,
+              1.045347640607464
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+              0.3016707801477115,
+              0.08247224783434348,
+              1.045347640607464
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+              0.005917991833274017,
+              0.012379807025918663,
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+              1.0
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+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
+                  "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/target_beaker/mesh"
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+              ],
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007953715923653555,
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+            "max_held_gripper_z_dist": 0.0032662186750991307,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02529206932976064,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9994419689345044,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004582955617936036,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+                "Robotiq2F85",
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+                "festo",
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+                "fr3_joint1",
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+                "fr3_joint5",
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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",
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+                "ur5e",
+                "visuals",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+            },
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
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+              0.2668469775573819,
+              -0.31861569521664246,
+              0.8470195004171935
+            ],
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+              0.25967201560805714,
+              -0.3215878237095824,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007766184826077964,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18774935205655024,
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+            "gripper_away_ok": true,
+            "object_z": 0.8470195004171935,
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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",
+            "release_finger_gap": 0.07584260100269094,
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+            "release_fingertip_min_gap": 0.08788048647009862,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1555712958539287,
+            "release_required_pad_clearance": 0.05394024323504931,
+            "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,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006751894950866699,
+            "max_z_decrease": 0.006751894950866699,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035104505776283886,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006751894950866699,
+            "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": 0.02121937493486438,
+            "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": 0.006751894950866699,
+            "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": 0.006751915031457297,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11537194252014157,
+              -0.37784928083419794,
+              0.7768088579177856
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+            "button_final": [
+              0.11537194252014157,
+              -0.37784928083419794,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11580675760137668,
+              -0.3787683497823305,
+              0.8080487163120793
+            ],
+            "closest_button": [
+              0.11536243557929989,
+              -0.37784940004348755,
+              0.7729590535163879
+            ],
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+              0.0004443220220767957,
+              -0.0009189497388429335,
+              0.03508966279569137
+            ],
+            "button_min_z_position": [
+              0.11535548418760297,
+              -0.377848744392395,
+              0.770056962966919
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+            "min_active_finger_to_button": 0.14568019602161075,
+            "closest_active_finger": [
+              -0.02518787980079651,
+              -0.36116722226142883,
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+            "closest_active_finger_button": [
+              0.11537288874387737,
+              -0.3778502941131592,
+              0.7762719988822937
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14056076854467386,
+              0.016683071851730347,
+              0.03445380926132202
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+            "min_contact_pad_to_button": 0.02121937493486438,
+            "closest_contact_pad": [
+              0.11535548418760297,
+              -0.38005642082435753,
+              0.7911611814409139
+            ],
+            "closest_contact_pad_button": [
+              0.11535548418760297,
+              -0.377848744392395,
+              0.770056962966919
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002207676431962513,
+              0.021104218473994907
+            ]
+          },
+          "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": 148,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a454c517ecc4765804c87e476688c0d80198f26d0132eab55c3ee4650d7b50c9",
+    "visual_seed": 7591140560555934204,
+    "episode_index": 148,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b283dcae250d97c0088d15301c7deeca4a925d3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.09584335543292177,
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+            "gripper_z": 1.0492614839997472,
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+            "gripper_position": [
+              0.305831716579021,
+              0.09102456930371912,
+              1.0492614839997472
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+              0.004926285409546705,
+              0.004818786129202654,
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+            "object_to_gripper_z": -0.0026163379141941334,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3107580019885677,
+              0.07158952932748835,
+              1.046645146085553
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+            "finger_b": [
+              0.2988644959595866,
+              0.09584335543292177,
+              1.046645146085553
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+            "finger_midpoint": [
+              0.30481124897407713,
+              0.08371644238020506,
+              1.046645146085553
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+            "object_minus_finger_midpoint": [
+              0.005946753014490547,
+              0.012126913052716709,
+              0.0
+            ],
+            "finger_gap": 0.027013025865571097,
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+              0.034568190574645996
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+            "closest_contact_pad": [
+              0.11519443243741989,
+              -0.3765518698054406,
+              0.7912402445991215
+            ],
+            "closest_contact_pad_button": [
+              0.11519443243741989,
+              -0.3744612932205201,
+              0.7701323628425598
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020905765849205116,
+              0.02110788175656164
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46aca63de40aaf049cab26924d89c94cbbdb05ded813504513edb6dbb60cf517",
+    "visual_seed": 2359920648968027586,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_150_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_150_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe02bc32ba302e82311f97c69420d39b98ae2c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_150_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 150,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.09530852602395389,
+              1.0470663951113353
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+            "gripper_z": 1.0500773102926215,
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+              0.004818823783358961,
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+              0.31219411774243794,
+              0.0704875748955154,
+              1.0470663951113353
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+              0.08289805045973464,
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+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.25201508525225463,
+              -0.3316133409419425,
+              0.8470196747171791
+            ],
+            "target_position": [
+              0.2610685624898609,
+              -0.32143537190827304,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.013621912631572298,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1714590927641302,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196747171791,
+            "min_z": 0.5730800627579278,
+            "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": 0.07514968739152317,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09592160825599598,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1388035402589017,
+            "release_required_pad_clearance": 0.05796080412799799,
+            "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": 11.855619074819389,
+            "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": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006875932216644287,
+            "max_z_decrease": 0.006875932216644287,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513433996081743,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006875932216644287,
+            "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": 0.02131198317750075,
+            "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": 0.006875932216644287,
+            "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": 0.006875953079016571,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11676848679780957,
+              -0.3776968419551848,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11676848679780957,
+              -0.3776968419551848,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11739424989321112,
+              -0.379538631339865,
+              0.8079698374337123
+            ],
+            "closest_button": [
+              0.11675850301980968,
+              -0.37769705057144154,
+              0.7728895545005798
+            ],
+            "closest_ee_minus_button": [
+              0.000635746873401441,
+              -0.0018415807684234453,
+              0.03508028293313248
+            ],
+            "button_min_z_position": [
+              0.11675157397985453,
+              -0.37769591808319086,
+              0.7699329257011414
+            ],
+            "min_active_finger_to_button": 0.1454172555139562,
+            "closest_active_finger": [
+              -0.023800425231456757,
+              -0.3636472821235657,
+              0.8112708330154419
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+            "closest_active_finger_button": [
+              0.11677020043134687,
+              -0.3776972591876983,
+              0.7767936587333679
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14057062566280362,
+              0.014049977064132635,
+              0.034477174282073975
+            ],
+            "min_contact_pad_to_button": 0.02131198317750075,
+            "closest_contact_pad": [
+              0.11675157397985453,
+              -0.38068542016655055,
+              0.7910341935363133
+            ],
+            "closest_contact_pad_button": [
+              0.11675157397985453,
+              -0.37769591808319086,
+              0.7699329257011414
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029895020833596853,
+              0.021101267835171966
+            ]
+          },
+          "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": 150,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3184c8fd2648ff29432bec61a16f6d4569c40b7d7e654c4c00cccceb87c82ff7",
+    "visual_seed": 776301775242003154,
+    "episode_index": 150,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e181933c01802689c4e5b7fa4ecab39e558be1ab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3096493844214579,
+              0.09572800458162073,
+              1.04638037727776
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+            "current_z": 1.04638037727776,
+            "required_z": 0.8565865670132103,
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+            "lift_margin": 0.18979381026454967,
+            "gripper_z": 1.0490499699905709,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3043715060378154,
+              0.09082560882490606,
+              1.0490499699905709
+            ],
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+              0.00527787838364252,
+              0.004902395756714667,
+              -0.0026695927128108643
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+            "object_to_gripper_z": -0.0026695927128108643,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3096493844214579,
+              0.07105754113359303,
+              1.04638037727776
+            ],
+            "finger_b": [
+              0.29785492246250467,
+              0.09572800458162073,
+              1.04638037727776
+            ],
+            "finger_midpoint": [
+              0.30375215344198125,
+              0.08339277285760688,
+              1.04638037727776
+            ],
+            "object_minus_finger_midpoint": [
+              0.005897230979476642,
+              0.012335231724013851,
+              0.0
+            ],
+            "finger_gap": 0.02734485508540255,
+            "fingertip_max_gap": 0.0917148685375552,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013672427542701288,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0921548121609375,
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+            "object_projection_between_fingers": 0.8139605633984021,
+            "object_to_finger_line_xy": 0.010640935625321308,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483574342687776,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5818349532540907,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
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+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
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+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91917ba5964af99be9da43933bdf732ad49e17d729fc4497b56c64b7e9202a20",
+    "visual_seed": 1991342029963807305,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..adac46b955379742269987d06ab26f707c487a6c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "stable_success_frames": 215,
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
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+                "contact_sensor",
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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",
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+                "ground",
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+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
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+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "object_tilt_deg": 0.44587112582399363,
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+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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",
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+                "panda_joint6",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006918609142303467,
+            "max_z_decrease": 0.006918609142303467,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035105909186716695,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006918609142303467,
+            "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": 0.02109650039938149,
+            "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": 0.006918609142303467,
+            "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": 0.006918625423880988,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12027588486671448,
+              -0.3712101876735687,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12027588486671448,
+              -0.3712101876735687,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11922301996478749,
+              -0.37004680423993985,
+              0.8076874334949896
+            ],
+            "closest_button": [
+              0.12026480585336684,
+              -0.37120991945266724,
+              0.7726162672042847
+            ],
+            "closest_ee_minus_button": [
+              -0.0010417858885793524,
+              0.0011631152127273836,
+              0.03507116629070495
+            ],
+            "button_min_z_position": [
+              0.12026087939739226,
+              -0.3712105453014374,
+              0.7698902487754822
+            ],
+            "min_active_finger_to_button": 0.1466069471896633,
+            "closest_active_finger": [
+              -0.0073128342628479,
+              -0.4346795678138733,
+              0.8109185695648193
+            ],
+            "closest_active_finger_button": [
+              0.12027647346258162,
+              -0.3712117671966553,
+              0.7764743566513062
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12758930772542953,
+              -0.06346780061721802,
+              0.034444212913513184
+            ],
+            "min_contact_pad_to_button": 0.02109650039938149,
+            "closest_contact_pad": [
+              0.12026087939739226,
+              -0.3712105453014374,
+              0.7909867491748637
+            ],
+            "closest_contact_pad_button": [
+              0.12026087939739226,
+              -0.3712105453014374,
+              0.7698902487754822
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109650039938149
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1080057504dd64c3e648dc09a3a0a99a8513babdd2d92484edc4934e6c97808c",
+    "visual_seed": 5075361108373766892,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..307bd6d51a04539ba35945022c558632b8ce02d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3122640896864497,
+              0.0922685881351627,
+              1.046419790833405
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+            "lift_margin": 0.18983322382019463,
+            "gripper_z": 1.0495622919386056,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30665518310375023,
+              0.08715819983185023,
+              1.0495622919386056
+            ],
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+              0.005608906582699469,
+              0.005110388303312466,
+              -0.0031425011052006457
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+            "object_to_gripper_z": -0.0031425011052006457,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3122640896864497,
+              0.06743718845893942,
+              1.046419790833405
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+            "finger_b": [
+              0.3000829379186164,
+              0.0922685881351627,
+              1.046419790833405
+            ],
+            "finger_midpoint": [
+              0.30617351380253305,
+              0.07985288829705106,
+              1.046419790833405
+            ],
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+              0.006090575883916649,
+              0.012415699838111638,
+              0.0
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+            "finger_gap": 0.0276582513596093,
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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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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04934112470180578,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.0902996900524767,
+              1.2383530974009358
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+              0.09501337715012459,
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008214543309903889,
+            "max_held_gripper_dist": 0.008217221284869057,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003288034914033622,
+            "max_held_gripper_z_dist": 0.003300595831528641,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08699379776163882,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.06931517352592272,
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+              0.08216427533802365,
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+            "held_grasp_object_position": [
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+            "held_grasp_finger_gap": 0.02769648972377403,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025411030230348672,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9995771684521557,
+              0.011399651631014307
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0048214282520923826,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221840246799848,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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"
+              ],
+              "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26389424566672476,
+              -0.31731931732977003,
+              0.8470193184649466
+            ],
+            "target_position": [
+              0.256325799398036,
+              -0.3205054910972009,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008211764865014896,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18785886879751057,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193184649466,
+            "min_z": 0.5730800627579278,
+            "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": 0.07545455010416517,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08657009169507064,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15677634311191715,
+            "release_required_pad_clearance": 0.05328504584753532,
+            "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": 1.588523557541757,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006812989711761475,
+            "max_z_decrease": 0.006812989711761475,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512307350801722,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006812989711761475,
+            "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": 0.021120929120370557,
+            "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": 0.006812989711761475,
+            "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": 0.006813010310317653,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11202572286128998,
+              -0.37676694989204407,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11202572286128998,
+              -0.37676694989204407,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1116942064578198,
+              -0.3748919776401626,
+              0.8077804413757359
+            ],
+            "closest_button": [
+              0.11201538145542145,
+              -0.3767664432525635,
+              0.7727088928222656
+            ],
+            "closest_ee_minus_button": [
+              -0.0003211749976016476,
+              0.0018744656124008996,
+              0.03507154855347028
+            ],
+            "button_min_z_position": [
+              0.11200897395610811,
+              -0.3767673373222351,
+              0.7699958682060242
+            ],
+            "min_active_finger_to_button": 0.14570508010384178,
+            "closest_active_finger": [
+              -0.015675000846385956,
+              -0.43787407875061035,
+              0.8110564947128296
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+            "closest_active_finger_button": [
+              0.11202704161405565,
+              -0.37676864862442017,
+              0.7765849828720093
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277020424604416,
+              -0.061105430126190186,
+              0.03447151184082031
+            ],
+            "min_contact_pad_to_button": 0.021120929120370557,
+            "closest_contact_pad": [
+              0.11200897395610811,
+              -0.3767673373222351,
+              0.7911167973263947
+            ],
+            "closest_contact_pad_button": [
+              0.11200897395610811,
+              -0.3767673373222351,
+              0.7699958682060242
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021120929120370557
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07aee75900339cf9f476dd939e149de191524d6b49463d4f94aecca607f6a839",
+    "visual_seed": 7561127807554994841,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..961e192c8374dc8ca0ecb17c07de8530a2b12656
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.08799800925392255,
+              1.0464985680139247
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+            "lift_margin": 0.18991188179142482,
+            "gripper_z": 1.0497094961670206,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3020640975150142,
+              0.08309057298570963,
+              1.0497094961670206
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+              0.0053849652701774,
+              0.004907436268212925,
+              -0.003210928153095871
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+            "object_to_gripper_xy": 0.007285655885888954,
+            "object_to_gripper_z": -0.003210928153095871,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3074490627851916,
+              0.06320199680992991,
+              1.0464985680139247
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+            "finger_b": [
+              0.2957142614337035,
+              0.08799800925392255,
+              1.0464985680139247
+            ],
+            "finger_midpoint": [
+              0.30158166210944753,
+              0.07560000303192624,
+              1.0464985680139247
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+            "object_minus_finger_midpoint": [
+              0.005867400675744039,
+              0.012398006221996313,
+              0.0
+            ],
+            "finger_gap": 0.027432604613516456,
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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": 1.0464985680139247,
+            "object_top_z": 1.0919376968049344,
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+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018533382193444692,
+              0.021112908495036997
+            ]
+          },
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+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33447597e84b46303a89667344e02ed69ce4202a9c24231ae8892ded2984bf71",
+    "visual_seed": 8828136237144304510,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ab53fb93ba941cdc0790a28fe6641feeece4608
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+            "stable_success_frames": 215,
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+          "failure_messages": {},
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+              "allowed_objects": [
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
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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",
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+                "ground",
+                "groundplane",
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+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
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+          "metrics": {
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+          "failure_code": null,
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "metrics": {
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+            "gripper_away_ok": true,
+            "object_z": 0.8470195730226391,
+            "min_z": 0.5730800627579278,
+            "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": 0.0752430094870308,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856671741348947,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15378102999551158,
+            "release_required_pad_clearance": 0.052833587067447355,
+            "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": 0.7110654618714669,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006994962692260742,
+            "max_z_decrease": 0.006994962692260742,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035149939044948925,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006994962692260742,
+            "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": 0.02128691919591307,
+            "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": 0.006994962692260742,
+            "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": 0.0069949870575297226,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11284532397985454,
+              -0.37524813413619984,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11284532397985454,
+              -0.37524813413619984,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11443004050488384,
+              -0.3767340985702636,
+              0.8076445783064423
+            ],
+            "closest_button": [
+              0.11283378303050992,
+              -0.3752475380897521,
+              0.7725623846054077
+            ],
+            "closest_ee_minus_button": [
+              0.0015962574743739188,
+              -0.0014865604805114896,
+              0.0350821937010346
+            ],
+            "button_min_z_position": [
+              0.11282686144113538,
+              -0.3752481937408446,
+              0.7698138952255249
+            ],
+            "min_active_finger_to_button": 0.14450837168083908,
+            "closest_active_finger": [
+              -0.026598744094371796,
+              -0.3594728112220764,
+              0.8108934164047241
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+            "closest_active_finger_button": [
+              0.11284632980823513,
+              -0.37524953484535206,
+              0.7764139175415039
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1394450739026069,
+              0.015776723623275646,
+              0.034479498863220215
+            ],
+            "min_contact_pad_to_button": 0.02128691919591307,
+            "closest_contact_pad": [
+              0.11282686144113538,
+              -0.37795908542618784,
+              0.7909274926244446
+            ],
+            "closest_contact_pad_button": [
+              0.11282686144113538,
+              -0.3752481937408446,
+              0.7698138952255249
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027108916853432197,
+              0.021113597398919715
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f76725c579b1bd3436e54c50dd89aaead1550d87fc429a09298e55b0d23fa740",
+    "visual_seed": 2229675869375054362,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..33444cdf0a272e3885e2c4f6873365d9092e6b59
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3066806495701037,
+              0.0864809849131207,
+              1.0487868580049051
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+            "current_z": 1.0487868580049051,
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+            "lift_margin": 0.192200469805629,
+            "gripper_z": 1.0515970076336458,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3015485831667619,
+              0.08162021763827261,
+              1.0515970076336458
+            ],
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+              0.005132066403341795,
+              0.004860767274848091,
+              -0.00281014962874071
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+            "object_to_gripper_xy": 0.007068604110327847,
+            "object_to_gripper_z": -0.00281014962874071,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3066806495701037,
+              0.061976418546335316,
+              1.0487868580049051
+            ],
+            "finger_b": [
+              0.29487127021101306,
+              0.0864809849131207,
+              1.0487868580049051
+            ],
+            "finger_midpoint": [
+              0.3007759598905584,
+              0.07422870172972801,
+              1.0487868580049051
+            ],
+            "object_minus_finger_midpoint": [
+              0.005904689679545327,
+              0.012252283183392693,
+              0.0
+            ],
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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_to_finger_line_xy": 0.01063842282871159,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 1.253749413993851,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+    "task_island_state_digest": "9dd301fc84e41e17cd986c0b50f2323c3d6da2f5fc9afe7aa2bf0fd62d0f7c8b",
+    "visual_seed": 349563732615124431,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9b76b1da63c0e31f9b07bd5105caa4866725e53
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              0.08236648119456157,
+              1.0477526420427186
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+                "/World/target_beaker"
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+              "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",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                },
+                {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+                "/World/target_beaker"
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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",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "held_object": "beaker_b",
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+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
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+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_leftfingertip",
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
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+                "base_link",
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+                "defaultgroundplane",
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+                "ground",
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+        },
+        "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": 3,
+      "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": 0.006992936134338379,
+            "max_z_decrease": 0.006992936134338379,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035113634642761925,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006992936134338379,
+            "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": 0.021186845972046245,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.006992936134338379,
+            "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": 0.006992958372120092,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11692440509796141,
+              -0.3791158497333526,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11692440509796141,
+              -0.3791158497333526,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11821100594919254,
+              -0.3799184728827285,
+              0.8077247323315659
+            ],
+            "closest_button": [
+              0.11691226065158844,
+              -0.37911427021026606,
+              0.7726443409919739
+            ],
+            "closest_ee_minus_button": [
+              0.001298745297604098,
+              -0.0008042026724624507,
+              0.035080391339592065
+            ],
+            "button_min_z_position": [
+              0.11690676957368851,
+              -0.37911579012870783,
+              0.7698159217834473
+            ],
+            "min_active_finger_to_button": 0.14488281844751724,
+            "closest_active_finger": [
+              -0.023086078464984894,
+              -0.3650926947593689,
+              0.8106335997581482
+            ],
+            "closest_active_finger_button": [
+              0.11692540347576141,
+              -0.3791168630123138,
+              0.7761207222938538
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1400114819407463,
+              0.01402416825294489,
+              0.034512877464294434
+            ],
+            "min_contact_pad_to_button": 0.021186845972046245,
+            "closest_contact_pad": [
+              0.11690676957368851,
+              -0.3809236373073104,
+              0.7909254961709623
+            ],
+            "closest_contact_pad_button": [
+              0.11690676957368851,
+              -0.37911579012870783,
+              0.7698159217834473
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018078471786025507,
+              0.02110957438751504
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c3bdc1d715633a53125209c5b3244f16cbd2400117ade53ecfc51dd2f5964e04",
+    "visual_seed": 2791661296582236236,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d0dcca67c2e8371a1621a048bd4789c951990be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.09389706460754588,
+              1.046564016823639
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+            "current_z": 1.046564016823639,
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+            "lift_margin": 0.1899775094150734,
+            "gripper_z": 1.0492144746475778,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3063326642022585,
+              0.08889886298890108,
+              1.0492144746475778
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+              0.005280076777286535,
+              0.004998201618644796,
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+            "object_to_gripper_z": -0.002650457823938801,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.06935502995486245,
+              1.046564016823639
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+              0.09389706460754588,
+              1.046564016823639
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+              0.30556406800733027,
+              0.08162604728120416,
+              1.046564016823639
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+              0.012271017326341713,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+          }
+        },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007736414746833253,
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+            "max_held_gripper_z_dist": 0.0028043236034565044,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024847290069810454,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9970403301096777,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039292449123698,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.262551511995419,
+              -0.31769514303872565,
+              0.8470197226263543
+            ],
+            "target_position": [
+              0.2560935785850847,
+              -0.31973450189984637,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006772288276258145,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862007160635084,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197226263543,
+            "min_z": 0.5730800627579278,
+            "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": 0.0755179369464259,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499703937179388,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15463128933088202,
+            "release_required_pad_clearance": 0.052498519685896944,
+            "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": 0.06852309614896407,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006701767444610596,
+            "max_z_decrease": 0.006701767444610596,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513621065630027,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006701767444610596,
+            "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": 0.021119114340867995,
+            "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": 0.006701767444610596,
+            "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": 0.006701786018890335,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11179350316524506,
+              -0.37599596381187433,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11179350316524506,
+              -0.37599596381187433,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11194288969447666,
+              -0.3741126060422136,
+              0.8079112226904734
+            ],
+            "closest_button": [
+              0.11178357899188995,
+              -0.37599617242813105,
+              0.7728258967399597
+            ],
+            "closest_ee_minus_button": [
+              0.00015931070258670688,
+              0.0018835663859174678,
+              0.035085325950513724
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+            "button_min_z_position": [
+              0.11177774518728256,
+              -0.3759967684745788,
+              0.770107090473175
+            ],
+            "min_active_finger_to_button": 0.1452923426655257,
+            "closest_active_finger": [
+              -0.01640641689300537,
+              -0.43507567048072815,
+              0.8110581636428833
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+            "closest_active_finger_button": [
+              0.11179530620574951,
+              -0.37599712610244745,
+              0.7766501903533936
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12820172309875488,
+              -0.059078544378280695,
+              0.034407973289489746
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+            "min_contact_pad_to_button": 0.021119114340867995,
+            "closest_contact_pad": [
+              0.11177774518728256,
+              -0.3759967684745788,
+              0.791226204814043
+            ],
+            "closest_contact_pad_button": [
+              0.11177774518728256,
+              -0.3759967684745788,
+              0.770107090473175
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021119114340867995
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "81918785456712562db5c48729a8f82fd9cfcd9572a8c719c946141121bc9008",
+    "visual_seed": 66395755573924493,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8c927a7339daf298efa3cf0c01adf2a09abcb68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.09295233003416323,
+              1.0479542382047164
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+            "gripper_z": 1.0505493819612512,
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+            "gripper_position": [
+              0.3084866749518982,
+              0.0880443674778597,
+              1.0505493819612512
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+              0.00522435108499153,
+              0.004907962556303533,
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+            "object_to_gripper_xy": 0.007168119747418404,
+            "object_to_gripper_z": -0.0025951437565348012,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3137110260368897,
+              0.06839041335306602,
+              1.0479542382047164
+            ],
+            "finger_b": [
+              0.30182196222754154,
+              0.09295233003416323,
+              1.0479542382047164
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+            "finger_midpoint": [
+              0.30776649413221563,
+              0.08067137169361463,
+              1.0479542382047164
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059445319046740885,
+              0.012280958340548598,
+              0.0
+            ],
+            "finger_gap": 0.027288048470198705,
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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": 1.0479542382047164,
+            "object_top_z": 1.0950680073150107,
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+            "object_projection_between_fingers": 0.8101763323640865,
+            "object_to_finger_line_xy": 0.010701322046549834,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04999577324516112,
+            "require_object_upright": true,
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+              "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f24be9bd372922c0534440131e346fd461749a48de1a626865a42174ff95e1ce",
+    "visual_seed": 8678040028985745226,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9bf9e6463ace75eaefde79a4fd08e6070525e61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "stable_success_frames": 217,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "floor",
+                "ground",
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+                "wheel",
+                "workbench"
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+            },
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+    {
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+      "skill": "shake",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "metrics": {
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+          "failure_messages": {},
+          "safety": {
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
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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": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
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+            },
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+            "forbidden": [],
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085467612756825,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15363086357218522,
+            "release_required_pad_clearance": 0.052733806378412504,
+            "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": 0.5188861499611814,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006978750228881836,
+            "max_z_decrease": 0.006978750228881836,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035090860081338195,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006978750228881836,
+            "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": 0.021123460723941414,
+            "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": 0.006978750228881836,
+            "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": 0.0069787730089778096,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11637388169765471,
+              -0.3762852251529693,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11637388169765471,
+              -0.3762852251529693,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11609234668029605,
+              -0.3758748323642042,
+              0.8077038053913815
+            ],
+            "closest_button": [
+              0.11636179685592649,
+              -0.3762857913970947,
+              0.7726163864135742
+            ],
+            "closest_ee_minus_button": [
+              -0.0002694501756304313,
+              0.00041095903289051217,
+              0.035087418977807316
+            ],
+            "button_min_z_position": [
+              0.11635605245828626,
+              -0.37628495693206787,
+              0.7698301076889038
+            ],
+            "min_active_finger_to_button": 0.14625507194305748,
+            "closest_active_finger": [
+              -0.012156084179878235,
+              -0.43702712655067444,
+              0.8107756972312927
+            ],
+            "closest_active_finger_button": [
+              0.11637397855520244,
+              -0.37628653645515436,
+              0.7764078378677368
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12853006273508066,
+              -0.060740590095520075,
+              0.03436785936355591
+            ],
+            "min_contact_pad_to_button": 0.021123460723941414,
+            "closest_contact_pad": [
+              0.11635605245828626,
+              -0.37723411486102587,
+              0.7909322329890197
+            ],
+            "closest_contact_pad_button": [
+              0.11635605245828626,
+              -0.37628495693206787,
+              0.7698301076889038
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009491579289579999,
+              0.021102125300115904
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "47b2003eb338d67f5bc729d813f1a72ae427de557af6b6069edcb51d5514f66b",
+    "visual_seed": 5938616690364708134,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cabaa35d5b83f95b7e9db82146ab9a8cfc47e219
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.30893766591041966,
+              0.08856317514048317,
+              1.047124310374853
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+            "lift_margin": 0.19053780296628775,
+            "gripper_z": 1.049841726437145,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30389373959347277,
+              0.08375006629701023,
+              1.049841726437145
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+              0.0050439263169468895,
+              0.004813108843472941,
+              -0.002717416062291811
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+            "object_to_gripper_z": -0.002717416062291811,
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+            "finger_a": [
+              0.30893766591041966,
+              0.06416067740692558,
+              1.047124310374853
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+            "finger_b": [
+              0.2971358631104274,
+              0.08856317514048317,
+              1.047124310374853
+            ],
+            "finger_midpoint": [
+              0.3030367645104235,
+              0.07636192627370438,
+              1.047124310374853
+            ],
+            "object_minus_finger_midpoint": [
+              0.005900901399996161,
+              0.0122012488667788,
+              0.0
+            ],
+            "finger_gap": 0.02710653878617093,
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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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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048464761549921395,
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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": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
+                  "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/target_beaker/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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
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+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..45215b3c6190f65cc365ec9ffcb533e574d9cf60
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              0.08911746215881325,
+              1.0466559810400324
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+              0.08418874550965487,
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+              0.0049287166491583795,
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+            "object_to_gripper_z": -0.0024133682724565286,
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+              0.06447193771512294,
+              1.0466559810400324
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+              1.0466559810400324
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+              0.0767946999369681,
+              1.0466559810400324
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+              0.012322762221845154,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874552269445724,
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+              0.0,
+              1.0
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+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08641253479746118,
+              1.2404417419592266
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+              0.09087774991797648,
+              1.2378825689179636
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.002571318981378523,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        "ordinary_object_physical_only": true
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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",
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.795748185575529,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+                "wheel",
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+              ],
+              "enabled": true
+            },
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+        "ordinary_object_physical_only": true
+      }
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+    {
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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": {
+            "target": "heat_button",
+            "z_decrease": 0.0067046284675598145,
+            "max_z_decrease": 0.0067046284675598145,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510872810375578,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0067046284675598145,
+            "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": 0.021125352034093322,
+            "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": 0.0067046284675598145,
+            "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": 0.006704646727286199,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11262376606464383,
+              -0.37246397137641896,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11262376606464383,
+              -0.37246397137641896,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1136549014375233,
+              -0.3714642900404957,
+              0.8078603323389365
+            ],
+            "closest_button": [
+              0.11261254549026485,
+              -0.37246361374855036,
+              0.7727813124656677
+            ],
+            "closest_ee_minus_button": [
+              0.001042355947258447,
+              0.0009993237080546669,
+              0.03507901987326878
+            ],
+            "button_min_z_position": [
+              0.11260813474655147,
+              -0.3724646866321563,
+              0.7701042294502258
+            ],
+            "min_active_finger_to_button": 0.14487761188967654,
+            "closest_active_finger": [
+              -0.013821199536323547,
+              -0.43422406911849976,
+              0.811107873916626
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+            "closest_active_finger_button": [
+              0.11262605339288707,
+              -0.37246510386466974,
+              0.776663064956665
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264472529292106,
+              -0.06175896525383001,
+              0.03444480895996094
+            ],
+            "min_contact_pad_to_button": 0.021125352034093322,
+            "closest_contact_pad": [
+              0.11260813474655147,
+              -0.37262180411168094,
+              0.7912289972042628
+            ],
+            "closest_contact_pad_button": [
+              0.11260813474655147,
+              -0.3724646866321563,
+              0.7701042294502258
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00015711747952462662,
+              0.021124767754036933
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a5f604d4aa240d424af2921ffde0651e5980c9627d808e113591ff5b64b2077b",
+    "visual_seed": 7849022157168914622,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f019428d8437aeab5c9277fc57e3a8d771eb5b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3076077978358837,
+              0.0890395122377388,
+              1.0467908688798584
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+            "current_z": 1.0467908688798584,
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+            "lift_margin": 0.19020424226200328,
+            "gripper_z": 1.0494771229482842,
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+            "gripper_position": [
+              0.30269435768395503,
+              0.0842874293372306,
+              1.0494771229482842
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+              0.004913440151928683,
+              0.0047520829005082005,
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+            "object_to_gripper_z": -0.0026862540684258196,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3076077978358837,
+              0.06468782866433392,
+              1.0467908688798584
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+              0.0890395122377388,
+              1.0467908688798584
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+              0.30178003746133064,
+              0.07686367045103637,
+              1.0467908688798584
+            ],
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+              0.012175841786702432,
+              0.0
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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_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.09086209276017486,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007344948984796041,
+            "max_held_gripper_dist": 0.00734867082755543,
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+            "max_held_gripper_z_dist": 0.002833254688837883,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08648115330351763,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              1.236870991736146
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+              0.07811553971420412,
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+            "held_grasp_object_position": [
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024671598014850433,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9966821689810451,
+              0.020661195426106334
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00367204904033272,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.2703173883287053,
+              -0.3154428745471869,
+              0.8470195031122665
+            ],
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+              0.26402297212957326,
+              -0.31743853254565957,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0066032057468144575,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18732696182096864,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195031122665,
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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",
+            "release_finger_gap": 0.0752934782703355,
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+            "release_fingertip_min_gap": 0.08597571702824051,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1563059126697296,
+            "release_required_pad_clearance": 0.05298785851412026,
+            "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": 1.0094842982235224,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006676971912384033,
+            "max_z_decrease": 0.006676971912384033,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351439467425348,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006676971912384033,
+            "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": 0.02126299798449381,
+            "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": 0.006676971912384033,
+            "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": 0.00667698801020063,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11972289532423017,
+              -0.37369999289512623,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11972289532423017,
+              -0.37369999289512623,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11796756867834243,
+              -0.37550333313894574,
+              0.8080760406231364
+            ],
+            "closest_button": [
+              0.11971366405487056,
+              -0.37370067834854115,
+              0.7730218172073364
+            ],
+            "closest_ee_minus_button": [
+              -0.0017460953765281312,
+              -0.0018026547904045898,
+              0.0350542234158
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+            "button_min_z_position": [
+              0.11970827728509899,
+              -0.3736988604068755,
+              0.7701318860054016
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+            "min_active_finger_to_button": 0.14773242456669425,
+            "closest_active_finger": [
+              -0.023283012211322784,
+              -0.36006978154182434,
+              0.8108111023902893
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+              0.11972368508577343,
+              -0.37370184063911427,
+              0.77634197473526
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1430066972970962,
+              0.013632059097289928,
+              0.0344691276550293
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+            "min_contact_pad_to_button": 0.02126299798449381,
+            "closest_contact_pad": [
+              0.11970827728509899,
+              -0.3766063603543276,
+              0.7911951603791583
+            ],
+            "closest_contact_pad_button": [
+              0.11970827728509899,
+              -0.3736988604068755,
+              0.7701318860054016
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002907499947452097,
+              0.021063274373756657
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7b19719377ad3f662e9f49b879580918c4e9d8e1ca8d8ea570035f5601aa20e",
+    "visual_seed": 3083943120359835710,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d9378ba5bb237798e35c0cf16431cbf5e9f117e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+            "gripper_z": 1.0479916745696531,
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+              1.0479916745696531
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+              0.004648197052755751,
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+              0.3110517936029447,
+              0.06429111579990054,
+              1.0453895361303718
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+              1.0453895361303718
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+              0.3053318695872713,
+              0.07645331184962267,
+              1.0453895361303718
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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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": [],
+              "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59e6ac6c3c79c90171187dcfc32dc0914c7ff48163cd79290cebbd5efb641240",
+    "visual_seed": 6312041189624124650,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd03831640e785c68a36134bab2adee10073a395
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.09289901104494581,
+              1.0460539736252916
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+            "gripper_position": [
+              0.304176075628252,
+              0.08808295259418898,
+              1.0485439046212337
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+              0.004816058450756833,
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+              0.0682840781078532,
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+              0.0805915445763995,
+              1.0460539736252916
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+              0.012307466468546316,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+              "source_missing": false,
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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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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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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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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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15375133364361354,
+            "release_required_pad_clearance": 0.05321841777941737,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4585466929370556,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0069664716720581055,
+            "max_z_decrease": 0.0069664716720581055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512465459916922,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0069664716720581055,
+            "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": 0.021111114479190007,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.0069664716720581055,
+            "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": 0.0069664921891132965,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11939972639083862,
+              -0.3788857460021972,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11939972639083862,
+              -0.3788857460021972,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1192659508467572,
+              -0.37703816093131914,
+              0.8078390108064599
+            ],
+            "closest_button": [
+              0.11938973516225816,
+              -0.3788833320140838,
+              0.7727630734443665
+            ],
+            "closest_ee_minus_button": [
+              -0.00012378431550096047,
+              0.0018451710827646628,
+              0.03507593736209347
+            ],
+            "button_min_z_position": [
+              0.1193828210234642,
+              -0.37888601422309864,
+              0.7698423862457275
+            ],
+            "min_active_finger_to_button": 0.1455201115505059,
+            "closest_active_finger": [
+              -0.0069975703954696655,
+              -0.4422226846218109,
+              0.8105942606925964
+            ],
+            "closest_active_finger_button": [
+              0.11940073221921922,
+              -0.37888634204864496,
+              0.7761257290840149
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12639830261468887,
+              -0.06333634257316595,
+              0.03446853160858154
+            ],
+            "min_contact_pad_to_button": 0.021111114479190007,
+            "closest_contact_pad": [
+              0.1193828210234642,
+              -0.37888601422309864,
+              0.7909535007249175
+            ],
+            "closest_contact_pad_button": [
+              0.1193828210234642,
+              -0.37888601422309864,
+              0.7698423862457275
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021111114479190007
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b51884dac426d13093d85609a173cf44acd8ec1b2b520cbddb0c87a430334465",
+    "visual_seed": 8175159917505933263,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..819a491232b07ff616c22cb9e6996f6757ab30ab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3066746337309558,
+              0.08690355483194243,
+              1.046270481419748
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18968397401118253,
+            "gripper_z": 1.0488526547089512,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3018737281090422,
+              0.08212847402647358,
+              1.0488526547089512
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+              0.004800905621913598,
+              0.004775080805468845,
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+            "object_to_gripper_z": -0.0025821732892030713,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3066746337309558,
+              0.06275549836929467,
+              1.046270481419748
+            ],
+            "finger_b": [
+              0.29483261938965966,
+              0.08690355483194243,
+              1.046270481419748
+            ],
+            "finger_midpoint": [
+              0.30075362656030774,
+              0.07482952660061855,
+              1.046270481419748
+            ],
+            "object_minus_finger_midpoint": [
+              0.005921007170648085,
+              0.012074028231323877,
+              0.0
+            ],
+            "finger_gap": 0.02689538872339807,
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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": 1.0927028339956588,
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+            "object_projection_between_fingers": 0.8061367388092303,
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+            "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": 0.9631431287252863,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30710620174868564,
+              0.0845815167792764,
+              1.2415407855617526
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+            "held_position": [
+              0.3122990041595257,
+              0.08885180634718304,
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+                "ridgebase_ur16e",
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+                "robot",
+                "robotiq_2f85",
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
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+      "reason": "executed",
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+            "object_axis_flip_tolerance_deg": 3.0,
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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": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006720125675201416,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516039073345243,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006720125675201416,
+            "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": 0.02124867390418904,
+            "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": 0.006720125675201416,
+            "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": 0.0067201465686468394,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1188029497861862,
+              -0.3727720379829406,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1188029497861862,
+              -0.3727720379829406,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12048069905942088,
+              -0.37400745221725473,
+              0.80807079452305
+            ],
+            "closest_button": [
+              0.11879178881645201,
+              -0.3727726936340331,
+              0.7729727029800415
+            ],
+            "closest_ee_minus_button": [
+              0.001688910242968869,
+              -0.0012347585832216401,
+              0.03509809154300847
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+            "button_min_z_position": [
+              0.11878620088100432,
+              -0.37277257442474354,
+              0.7700887322425842
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+            "min_active_finger_to_button": 0.14443418527784624,
+            "closest_active_finger": [
+              -0.020558521151542664,
+              -0.3567963242530823,
+              0.8106966018676758
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+            "closest_active_finger_button": [
+              0.11880327761173247,
+              -0.37277323007583607,
+              0.7762835025787354
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13936179876327515,
+              0.015976905822753795,
+              0.03441309928894043
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+            "min_contact_pad_to_button": 0.02124867390418904,
+            "closest_contact_pad": [
+              0.11878620088100432,
+              -0.37524207068840265,
+              0.791193417288572
+            ],
+            "closest_contact_pad_button": [
+              0.11878620088100432,
+              -0.37277257442474354,
+              0.7700887322425842
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00246949626365911,
+              0.021104685045987726
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "72312a8b798278d8493c2f1717eb44c2d36c446d6fef83d170f5da1ee54f69bf",
+    "visual_seed": 4203182221786487170,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..29baf12d8ab3bb055d9a58445a1444d78328cd3c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508192496475832,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0068506598472595215,
+            "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": 0.02112099576483384,
+            "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": 0.0068506598472595215,
+            "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": 0.006850677919795968,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.113019123673439,
+              -0.37483999133110046,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.113019123673439,
+              -0.37483999133110046,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11237960917573675,
+              -0.37388515338169787,
+              0.807651768802331
+            ],
+            "closest_button": [
+              0.11300876736640929,
+              -0.37483805418014526,
+              0.7725884318351746
+            ],
+            "closest_ee_minus_button": [
+              -0.000629158190672538,
+              0.0009529007984473981,
+              0.035063336967156467
+            ],
+            "button_min_z_position": [
+              0.11300338804721831,
+              -0.3748400807380676,
+              0.7699581980705261
+            ],
+            "min_active_finger_to_button": 0.1463540953406096,
+            "closest_active_finger": [
+              -0.01399548351764679,
+              -0.4388314485549927,
+              0.8110952377319336
+            ],
+            "closest_active_finger_button": [
+              0.11302151530981061,
+              -0.3748417794704437,
+              0.7765767574310303
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270169988274574,
+              -0.06398966908454895,
+              0.03451848030090332
+            ],
+            "min_contact_pad_to_button": 0.02112099576483384,
+            "closest_contact_pad": [
+              0.11300338804721831,
+              -0.3748400807380676,
+              0.79107919383536
+            ],
+            "closest_contact_pad_button": [
+              0.11300338804721831,
+              -0.3748400807380676,
+              0.7699581980705261
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02112099576483384
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "caf051e0cd9830bcc0e8b430268d79db27ac502941a1df5157f0866f5b644019",
+    "visual_seed": 1728191573837081723,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4956939cf8137a1bc787d201971c2173382b229c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3072638805287895,
+              0.08529347238382867,
+              1.0449393927883308
+            ],
+            "current_z": 1.0449393927883308,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18835294498441002,
+            "gripper_z": 1.0477117250272265,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3020181870535415,
+              0.08041302272627107,
+              1.0477117250272265
+            ],
+            "object_minus_gripper": [
+              0.005245693475248003,
+              0.004880449657557601,
+              -0.002772332238895725
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+            "object_to_gripper_xy": 0.007164920718068943,
+            "object_to_gripper_z": -0.002772332238895725,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3072638805287895,
+              0.06062870795681921,
+              1.0449393927883308
+            ],
+            "finger_b": [
+              0.29552337333843,
+              0.08529347238382867,
+              1.0449393927883308
+            ],
+            "finger_midpoint": [
+              0.3013936269336097,
+              0.07296109017032394,
+              1.0449393927883308
+            ],
+            "object_minus_finger_midpoint": [
+              0.005870253595179786,
+              0.01233238221350473,
+              0.0
+            ],
+            "finger_gap": 0.027316480617509183,
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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": 1.0449393927883308,
+            "object_top_z": 1.0907727219593608,
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+            "object_projection_between_fingers": 0.8152756159253427,
+            "object_to_finger_line_xy": 0.010600810849631066,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834090688100996,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.48601563398272846,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3072149809740259,
+              0.08257577760871725,
+              1.2401341787366562
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+            "held_position": [
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+              0.08700421231770246,
+              1.2372255103481065
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007681452934735993,
+            "max_held_gripper_dist": 0.007688811898132007,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002908668388549751,
+            "max_held_gripper_z_dist": 0.0029161472645802267,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0870483209985824,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.06136046124024996,
+              1.2372255103481065
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+              0.08700421231770246,
+              1.2372255103481065
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+              0.0741823367789762,
+              1.2372255103481065
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+            "held_grasp_object_position": [
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+              0.08700421231770246,
+              1.2372255103481065
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+            "held_grasp_finger_gap": 0.02740377258676536,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024896133351008976,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07041810303197885,
+              -0.9973794936573186,
+              0.0165962766079748
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003922317570779446,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032071740176211366,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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",
+                "desk",
+                "floor",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.2666997002806577,
+              -0.3115104567233421,
+              0.8470195924541066
+            ],
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+              0.2594414782703779,
+              -0.31382487272014115,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00761828774441801,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18589691233328057,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195924541066,
+            "min_z": 0.5730800627579278,
+            "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": 0.07518369415600147,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851588073280047,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15529681135035592,
+            "release_required_pad_clearance": 0.05257940366400235,
+            "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": 0.2238116484713386,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0068413615226745605,
+            "max_z_decrease": 0.0068413615226745605,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035162788084042135,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0068413615226745605,
+            "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": 0.02131769646338124,
+            "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": 0.0068413615226745605,
+            "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": 0.006841385470217444,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11514140665531154,
+              -0.37008634209632874,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11514140665531154,
+              -0.37008634209632874,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11671573681031389,
+              -0.37182876878079957,
+              0.8077579316633027
+            ],
+            "closest_button": [
+              0.11512997001409528,
+              -0.3700866997241974,
+              0.7726741433143616
+            ],
+            "closest_ee_minus_button": [
+              0.0015857667962186073,
+              -0.0017420690566021801,
+              0.0350837883489411
+            ],
+            "button_min_z_position": [
+              0.11512330919504163,
+              -0.3700867295265198,
+              0.7699674963951111
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+            "min_active_finger_to_button": 0.14449461811119504,
+            "closest_active_finger": [
+              -0.024386577308177948,
+              -0.3551828861236572,
+              0.8110087513923645
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+            "closest_active_finger_button": [
+              0.11514247208833692,
+              -0.37008821964263916,
+              0.7765389084815979
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13952904939651486,
+              0.014905333518981934,
+              0.0344698429107666
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+            "min_contact_pad_to_button": 0.02131769646338124,
+            "closest_contact_pad": [
+              0.11512330919504163,
+              -0.3730206601117119,
+              0.7910823308445244
+            ],
+            "closest_contact_pad_button": [
+              0.11512330919504163,
+              -0.3700867295265198,
+              0.7699674963951111
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002933930585192146,
+              0.02111483444941331
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6903a23d48b9b85d915711b43f38e7e701e6a7c1e5f64b2951a51c11a83e0c09",
+    "visual_seed": 6196495677544081703,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b6c3e430456cae8ce030351c197beb07dd86fdb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.08508831386314804,
+              1.0477637701345572
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+            "lift_margin": 0.19117720312134678,
+            "gripper_z": 1.0504540547868213,
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+            "gripper_position": [
+              0.3018887406924303,
+              0.08027239993354388,
+              1.0504540547868213
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+              0.00501892967901707,
+              0.0048159139296041625,
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+            "object_to_gripper_z": -0.0026902846522640633,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.060685114424065864,
+              1.0477637701345572
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+            "finger_b": [
+              0.2951335025141739,
+              0.08508831386314804,
+              1.0477637701345572
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+            "finger_midpoint": [
+              0.30102058644281066,
+              0.07288671414360695,
+              1.0477637701345572
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+              0.005887083928636738,
+              0.012201599719541087,
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+            "finger_gap": 0.02709515033349829,
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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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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832190178070574,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4989223845958471,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
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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"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05ed017bb3dc0fbe0e90b611f28a43752e9b3cb7b7ad337c233ca323454664ef",
+    "visual_seed": 7472613314300190310,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b18f231a08e2028365975e759149dce93e9520be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.09167783449738999,
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+              0.08694128155966341,
+              1.0473208942967949
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+              0.07955546858448649,
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+              0.0,
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+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006766021251678467,
+            "max_z_decrease": 0.006766021251678467,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350857728510631,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006766021251678467,
+            "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": 0.021120202101363037,
+            "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": 0.006766021251678467,
+            "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": 0.006766042074518608,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11312243342399594,
+              -0.37412059307098383,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11312243342399594,
+              -0.37412059307098383,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11288720856945347,
+              -0.3732126333938198,
+              0.8078170751778584
+            ],
+            "closest_button": [
+              0.11311239749193189,
+              -0.37412005662918085,
+              0.7727437615394592
+            ],
+            "closest_ee_minus_button": [
+              -0.00022518892247841427,
+              0.0009074232353610268,
+              0.03507331363839916
+            ],
+            "button_min_z_position": [
+              0.11310564726591107,
+              -0.37412056326866144,
+              0.7700428366661072
+            ],
+            "min_active_finger_to_button": 0.1460276154463493,
+            "closest_active_finger": [
+              -0.014386139810085297,
+              -0.4363892078399658,
+              0.811090350151062
+            ],
+            "closest_active_finger_button": [
+              0.11312449723482129,
+              -0.37412208318710327,
+              0.776624321937561
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1275106370449066,
+              -0.06226712465286255,
+              0.03446602821350098
+            ],
+            "min_contact_pad_to_button": 0.021120202101363037,
+            "closest_contact_pad": [
+              0.11310564726591107,
+              -0.37432014815754955,
+              0.7911620957126397
+            ],
+            "closest_contact_pad_button": [
+              0.11310564726591107,
+              -0.37412056326866144,
+              0.7700428366661072
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00019958488888810466,
+              0.021119259046532557
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bee999dd2ef65745e4b73c6ee5d822530cd8d6bd1ca492c8e04514dbe1aa1313",
+    "visual_seed": 4832492475266245384,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..142b18899bbe11731c05e9f14e4c908b06d2f9ed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31446993376684984,
+              0.09209537108124777,
+              1.048565190125777
+            ],
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+            "lift_margin": 0.19197856350792197,
+            "gripper_z": 1.0510813052158432,
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+            "gripper_position": [
+              0.30925125612203863,
+              0.08716814164675878,
+              1.0510813052158432
+            ],
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+              0.005218677644811209,
+              0.004927229434488992,
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+            "object_to_gripper_xy": 0.007177199053986658,
+            "object_to_gripper_z": -0.0025161150900661067,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31446993376684984,
+              0.06754608569576134,
+              1.048565190125777
+            ],
+            "finger_b": [
+              0.30253955584138753,
+              0.09209537108124777,
+              1.048565190125777
+            ],
+            "finger_midpoint": [
+              0.3085047448041187,
+              0.07982072838850456,
+              1.048565190125777
+            ],
+            "object_minus_finger_midpoint": [
+              0.005965188962731127,
+              0.012274642692743212,
+              0.0
+            ],
+            "finger_gap": 0.0272947124986217,
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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_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858433361958224,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8029129859916438,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31460759605940114,
+              0.08950684792622808,
+              1.2418183933949596
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+            "held_position": [
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+              0.09395434416323054,
+              1.2391517924836835
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007601147689809985,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
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+                "joint4",
+                "joint5",
+                "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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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
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+            },
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+            "forbidden": [],
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2704547250094574,
+              -0.32149677102651425,
+              0.8470197922769183
+            ],
+            "target_position": [
+              0.2647275483810293,
+              -0.32303018225726526,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0059289039573774726,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18671829332045603,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197922769183,
+            "min_z": 0.5730800627579278,
+            "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": 0.07522861299473775,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559511742987351,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1557745073548615,
+            "release_required_pad_clearance": 0.05279755871493676,
+            "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": 0.6391846821047575,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006986021995544434,
+            "max_z_decrease": 0.006986021995544434,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513933584948047,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006986021995544434,
+            "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": 0.021279662709384032,
+            "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": 0.006986021995544434,
+            "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": 0.006986041276992483,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12042747437953943,
+              -0.37929165363311756,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12042747437953943,
+              -0.37929165363311756,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11903852861230649,
+              -0.3811346311051528,
+              0.8078598178120758
+            ],
+            "closest_button": [
+              0.12041749060153956,
+              -0.37929230928421015,
+              0.7727959156036377
+            ],
+            "closest_ee_minus_button": [
+              -0.0013789619892330685,
+              -0.0018423218209426273,
+              0.035063902208438136
+            ],
+            "button_min_z_position": [
+              0.12041109800338741,
+              -0.3792905509471892,
+              0.7698228359222412
+            ],
+            "min_active_finger_to_button": 0.14735147864879292,
+            "closest_active_finger": [
+              -0.022088557481765747,
+              -0.36459478735923767,
+              0.8110343217849731
+            ],
+            "closest_active_finger_button": [
+              0.12042774260044092,
+              -0.3792938292026519,
+              0.7766032218933105
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14251630008220667,
+              0.014699041843414251,
+              0.0344310998916626
+            ],
+            "min_contact_pad_to_button": 0.021279662709384032,
+            "closest_contact_pad": [
+              0.12041109800338741,
+              -0.38232986296758903,
+              0.7908843322477116
+            ],
+            "closest_contact_pad_button": [
+              0.12041109800338741,
+              -0.3792905509471892,
+              0.7698228359222412
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003039312020399809,
+              0.021061496325470386
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "baed67430eaf0912e61757ffdd9f883777fc653886a5570e66008aa755d76bc4",
+    "visual_seed": 6640321030639800842,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7ded97fee336ac8a8d073045738d04c9ff50ceb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "contact_point_distance": 0.021120792590268573,
+            "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": 0.006674587726593018,
+            "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": 0.006674608396884687,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11234270781278607,
+              -0.37901300191879267,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11234270781278607,
+              -0.37901300191879267,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11112155330113399,
+              -0.37898499915921385,
+              0.807974999129414
+            ],
+            "closest_button": [
+              0.11233261227607727,
+              -0.37901157140731806,
+              0.7729178667068481
+            ],
+            "closest_ee_minus_button": [
+              -0.0012110589749432799,
+              2.657224810420633e-05,
+              0.035057132422565807
+            ],
+            "button_min_z_position": [
+              0.11232610046863555,
+              -0.37901264429092396,
+              0.7701342701911926
+            ],
+            "min_active_finger_to_button": 0.14726725665541732,
+            "closest_active_finger": [
+              -0.015813253819942474,
+              -0.44283759593963623,
+              0.8108406662940979
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+            "closest_active_finger_button": [
+              0.11234422028064725,
+              -0.3790141940116881,
+              0.7763460278511047
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12815747410058972,
+              -0.06382340192794811,
+              0.034494638442993164
+            ],
+            "min_contact_pad_to_button": 0.021120792590268573,
+            "closest_contact_pad": [
+              0.11232610046863555,
+              -0.3800196768434741,
+              0.7912310416285299
+            ],
+            "closest_contact_pad_button": [
+              0.11232610046863555,
+              -0.37901264429092396,
+              0.7701342701911926
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010070325525501356,
+              0.021096771437337236
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7039410ee769e55f10098874f82edaa59b177c4a74c39af627a7e3063a413928",
+    "visual_seed": 2076904394781153488,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..726f7de749c5bf5829e616682065b13f050c46df
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30488821341597744,
+              0.09141878547218721,
+              1.0459578431213414
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+            "lift_margin": 0.18937145492206542,
+            "gripper_z": 1.048624570235321,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2998511646434945,
+              0.0866500929699408,
+              1.048624570235321
+            ],
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+              0.005037048772482955,
+              0.004768692502246402,
+              -0.002666727113979528
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+            "object_to_gripper_z": -0.002666727113979528,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30488821341597744,
+              0.06692196278250248,
+              1.0459578431213414
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+              0.09141878547218721,
+              1.0459578431213414
+            ],
+            "finger_midpoint": [
+              0.2990853170843185,
+              0.07917037412734484,
+              1.0459578431213414
+            ],
+            "object_minus_finger_midpoint": [
+              0.005802896331658924,
+              0.012248411344842364,
+              0.0
+            ],
+            "finger_gap": 0.02710698701873326,
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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": 1.0927138794860989,
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+            "object_projection_between_fingers": 0.8166895938218706,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04938969597871372,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08932120688960225,
+              1.2403364811381064
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+              0.09367653168977344,
+              1.2375423819617355
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007430357117784838,
+            "max_held_gripper_dist": 0.0074320428371016205,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027940991763708567,
+            "max_held_gripper_z_dist": 0.0028029674294818285,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08715406592362827,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.06821297394483453,
+              1.2375423819617355
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+              0.09367653168977344,
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+              0.08094475281730398,
+              1.2375423819617355
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+            "held_grasp_object_position": [
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+              0.09367653168977344,
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+            "held_grasp_finger_gap": 0.027214121071886723,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02484539437078675,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05882875273180566,
+              -0.9979092875776857,
+              0.026762503960129472
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00405878431230115,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0322126013827589,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                "defaultgroundplane",
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+            },
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.2682236857650867,
+              -0.3185139352455153,
+              0.8470195733176664
+            ],
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+              0.2621828115185871,
+              -0.32040539621268976,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006330070003749327,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18669787624362938,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195733176664,
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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_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1550534802523698,
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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": 0.7187291061745047,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006729602813720703,
+            "max_z_decrease": 0.006729602813720703,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035133747383897594,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006729602813720703,
+            "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": 0.02110981189763861,
+            "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": 0.006729602813720703,
+            "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": 0.0067296208533118495,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1178827360272407,
+              -0.3766668438911438,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1178827360272407,
+              -0.3766668438911438,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11852023817667329,
+              -0.3750809035089131,
+              0.8080597203217463
+            ],
+            "closest_button": [
+              0.11787262558937067,
+              -0.37666672468185425,
+              0.7729677557945251
+            ],
+            "closest_ee_minus_button": [
+              0.0006476125873026151,
+              0.0015858211729411487,
+              0.03509196452722119
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+            "button_min_z_position": [
+              0.11786716431379313,
+              -0.3766674101352691,
+              0.7700792551040649
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+            "min_active_finger_to_button": 0.14496598670490154,
+            "closest_active_finger": [
+              -0.009097136557102203,
+              -0.43756353855133057,
+              0.8106702566146851
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+            "closest_active_finger_button": [
+              0.11788354814052575,
+              -0.3766677677631378,
+              0.7762791514396667
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12698068469762797,
+              -0.06089577078819275,
+              0.03439110517501831
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+            "closest_contact_pad": [
+              0.11786716431379313,
+              -0.3766674101352691,
+              0.7911890670017035
+            ],
+            "closest_contact_pad_button": [
+              0.11786716431379313,
+              -0.3766674101352691,
+              0.7700792551040649
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02110981189763861
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ef090955466248e91bb4b7781c32a28cb351bf2f372786438a66735a071592a",
+    "visual_seed": 3511342955876375919,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..20e40541161e24e988ec2c981ad33df23a1da7d3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              0.09196789387763142,
+              1.0467300559431079
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+            "gripper_z": 1.0493569625395187,
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+              0.0871792569810897,
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+            "object_to_gripper_z": -0.0026269065964108496,
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+              0.06746044054729983,
+              1.0467300559431079
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+            "finger_b": [
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+              1.0467300559431079
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+              0.30216930944447673,
+              0.07971416721246563,
+              1.0467300559431079
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+              0.005817007060378188,
+              0.01225372666516579,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_projection_between_fingers": 0.8160915494549991,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4435374812855157,
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+              0.0,
+              1.0
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+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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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"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "699b18e0acad0c9080ad132677a8c96a9423d7521c7b8a7df87b57fa16e9f700",
+    "visual_seed": 5649845503402946459,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5338cbda5841dc43fc348cd3c739b4c56a9b084e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.08689281564628197,
+              1.0471878669803791
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+            "gripper_z": 1.0496379410306165,
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+            "gripper_position": [
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+              0.08210406204701343,
+              1.0496379410306165
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+              0.004788753599268544,
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+              0.06229238876552532,
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+              0.07459260220590365,
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+            "stable_success_frames": 217,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.08434739807326576,
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+            "held_shake_count": 5,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_required_pad_clearance": 0.053179283152945775,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.381376694527799,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.006824672222137451,
+            "max_z_decrease": 0.006824672222137451,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514016274278942,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006824672222137451,
+            "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": 0.0212382063627481,
+            "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": 0.006824672222137451,
+            "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": 0.006824691867774019,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11996705830097197,
+              -0.37726929783821106,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11996705830097197,
+              -0.37726929783821106,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1182047564104437,
+              -0.37873544022901706,
+              0.8081196598234941
+            ],
+            "closest_button": [
+              0.11996012926101683,
+              -0.3772721886634826,
+              0.7730538845062256
+            ],
+            "closest_ee_minus_button": [
+              -0.0017553728505731309,
+              -0.0014632515655344513,
+              0.03506577531726851
+            ],
+            "button_min_z_position": [
+              0.11995070427656172,
+              -0.3772684633731842,
+              0.7699841856956482
+            ],
+            "min_active_finger_to_button": 0.1477297501073765,
+            "closest_active_finger": [
+              -0.022746354341506958,
+              -0.3606889843940735,
+              0.8111377358436584
+            ],
+            "closest_active_finger_button": [
+              0.11996895819902419,
+              -0.37727057933807373,
+              0.7767652273178101
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14271531254053116,
+              0.016581594944000244,
+              0.03437250852584839
+            ],
+            "min_contact_pad_to_button": 0.0212382063627481,
+            "closest_contact_pad": [
+              0.11995070427656172,
+              -0.3800781807558317,
+              0.7910357152775176
+            ],
+            "closest_contact_pad_button": [
+              0.11995070427656172,
+              -0.3772684633731842,
+              0.7699841856956482
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002809717382647514,
+              0.0210515295818694
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb004fc6547492a2ef075b4c1559b69998077f8a3a0fb87006e95e768763a14b",
+    "visual_seed": 3328188006147835355,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b911b433caedf45c3a14ce17945fd74b6bc8384
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3065269481918285,
+              0.09504084629538416,
+              1.0475418003536603
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+            "current_z": 1.0475418003536603,
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+            "lift_margin": 0.1909553525497395,
+            "gripper_z": 1.0502362894816235,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30152339497565095,
+              0.09018182467197365,
+              1.0502362894816235
+            ],
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+              0.00500355321617757,
+              0.004859021623410509,
+              -0.0026944891279632177
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+            "object_to_gripper_z": -0.0026944891279632177,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3065269481918285,
+              0.07074290580671634,
+              1.0475418003536603
+            ],
+            "finger_b": [
+              0.2945632279912169,
+              0.09504084629538416,
+              1.0475418003536603
+            ],
+            "finger_midpoint": [
+              0.3005450880915227,
+              0.08289187605105025,
+              1.0475418003536603
+            ],
+            "object_minus_finger_midpoint": [
+              0.005981860100305825,
+              0.01214897024433391,
+              0.0
+            ],
+            "finger_gap": 0.027083583829127282,
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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_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048708168368527,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8101585491020693,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30680717869421953,
+              0.09281023385403,
+              1.2424351342691617
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+            "held_position": [
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+              0.09716477295322107,
+              1.2396131104565298
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0074783906691639705,
+            "max_held_gripper_dist": 0.007480356159387087,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028220238126319686,
+            "max_held_gripper_z_dist": 0.0028305937783656976,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08611279641393774,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "gripper",
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+                "mobile_rotate",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                "table",
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+            },
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
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+        "skill": "shake",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.26129843548365406,
+              -0.31883440676613434,
+              0.8470193691719542
+            ],
+            "target_position": [
+              0.25555436409245674,
+              -0.3205446852785213,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005993280298559718,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18398064941727177,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193691719542,
+            "min_z": 0.5730800627579278,
+            "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": 0.0756631662992667,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530052409903087,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1521469149537361,
+            "release_required_pad_clearance": 0.05265026204951544,
+            "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": 0.3582727284239392,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0069509148597717285,
+            "max_z_decrease": 0.0069509148597717285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035127727020498115,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0069509148597717285,
+            "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": 0.02125392322922169,
+            "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": 0.0069509148597717285,
+            "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": 0.006950934114871433,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11125428974628447,
+              -0.37680613994598383,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11125428974628447,
+              -0.37680613994598383,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11260534096935301,
+              -0.377949508585348,
+              0.807683523884325
+            ],
+            "closest_button": [
+              0.11124372482299803,
+              -0.3768059313297271,
+              0.7726008296012878
+            ],
+            "closest_ee_minus_button": [
+              0.0013616161463549797,
+              -0.0011435772556208645,
+              0.03508269428303712
+            ],
+            "button_min_z_position": [
+              0.11123793572187421,
+              -0.37680661678314203,
+              0.7698579430580139
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+            "min_active_finger_to_button": 0.14476640281842468,
+            "closest_active_finger": [
+              -0.028350137174129486,
+              -0.3601098656654358,
+              0.8109407424926758
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+            "closest_active_finger_button": [
+              0.1112551391124725,
+              -0.37680733203887934,
+              0.7764607071876526
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.139605276286602,
+              0.016697466373443548,
+              0.03448003530502319
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+            "min_contact_pad_to_button": 0.02125392322922169,
+            "closest_contact_pad": [
+              0.11123793572187421,
+              -0.3792244160146836,
+              0.7909738967307611
+            ],
+            "closest_contact_pad_button": [
+              0.11123793572187421,
+              -0.37680661678314203,
+              0.7698579430580139
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002417799231541562,
+              0.021115953672747212
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bc02d0d15fa9945297784837d39ed8e8c699b61d0840b496472400fb6d2e4750",
+    "visual_seed": 4520149024726323043,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4229ae661d1bf522120c62c50e57ae8cc8a9828d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.31415353698329035,
+              0.08913948631831746,
+              1.0475334974699402
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+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00675668340286754,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11766045540571211,
+              -0.3781033158302307,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11766045540571211,
+              -0.3781033158302307,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11585832900134913,
+              -0.378704715553669,
+              0.8080033961003965
+            ],
+            "closest_button": [
+              0.11765061318874356,
+              -0.3781036138534546,
+              0.7729381322860718
+            ],
+            "closest_ee_minus_button": [
+              -0.0017922841873944384,
+              -0.0006011017002144348,
+              0.03506526381432473
+            ],
+            "button_min_z_position": [
+              0.1176440119743347,
+              -0.3781023323535919,
+              0.7700521945953369
+            ],
+            "min_active_finger_to_button": 0.1478672814757326,
+            "closest_active_finger": [
+              -0.02514241635799408,
+              -0.3611985146999359,
+              0.8112508654594421
+            ],
+            "closest_active_finger_button": [
+              0.11765953898429869,
+              -0.37810447812080383,
+              0.7768049240112305
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14280195534229279,
+              0.01690596342086792,
+              0.03444594144821167
+            ],
+            "min_contact_pad_to_button": 0.021150297671829722,
+            "closest_contact_pad": [
+              0.1176440119743347,
+              -0.3800000898803989,
+              0.7911171799496269
+            ],
+            "closest_contact_pad_button": [
+              0.1176440119743347,
+              -0.3781023323535919,
+              0.7700521945953369
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018977575268069868,
+              0.021064985354290022
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ced84a6721c8fabfc8bfaa447d46af53c7a15b03ab52115d1a635a23787f0c4b",
+    "visual_seed": 6822735657923508987,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..43240f5873011aea6ca8528f278cd16d6e010eb0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31104445927453267,
+              0.09437729376255649,
+              1.045163484811971
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+            "current_z": 1.045163484811971,
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+            "lift_margin": 0.1885769774034055,
+            "gripper_z": 1.0478048722501403,
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+            "gripper_position": [
+              0.3058915589937051,
+              0.08947355586395915,
+              1.0478048722501403
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+              0.005152900280827544,
+              0.004903737898597341,
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+            "object_to_gripper_z": -0.002641387438169218,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31104445927453267,
+              0.06991658253572498,
+              1.045163484811971
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+            "finger_b": [
+              0.29908322158875117,
+              0.09437729376255649,
+              1.045163484811971
+            ],
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+              0.3050638404316419,
+              0.08214693814914073,
+              1.045163484811971
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+              0.012230355613415761,
+              0.0
+            ],
+            "finger_gap": 0.02722861731153825,
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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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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792944205242043,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.09165536657648644,
+              1.237363440211023
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+              0.09605737763376611,
+              1.234563542550022
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075886695758862035,
+            "max_held_gripper_dist": 0.007591106894820855,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002799897661000861,
+            "max_held_gripper_z_dist": 0.0028075379680776447,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08669037309155272,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.07040221974782576,
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+            "held_grasp_object_position": [
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+              1.234563542550022
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+            "held_grasp_finger_gap": 0.027363163360197368,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02476512844812983,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08379016284824713,
+              -0.9963876111512778,
+              0.013817993852730855
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003670893406832463,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03202030771019472,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_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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+                  "b": "/World/target_beaker/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/target_beaker/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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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              -0.3138207356507505,
+              0.8470195646754567
+            ],
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+              -0.316061222726218,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "gripper_away_ok": true,
+            "object_z": 0.8470195646754567,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_margin": 0.02,
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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": 0.45456385442586356,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006963968276977539,
+            "max_z_decrease": 0.006963968276977539,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512062061945895,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006963968276977539,
+            "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": 0.02117417495688042,
+            "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": 0.006963968276977539,
+            "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": 0.006963989904235619,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12014882266521452,
+              -0.372322678565979,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12014882266521452,
+              -0.372322678565979,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11847815326485325,
+              -0.37331064207281994,
+              0.8064902408007326
+            ],
+            "closest_button": [
+              0.12013754248619078,
+              -0.37232106924057,
+              0.771422803401947
+            ],
+            "closest_ee_minus_button": [
+              -0.0016593892213375289,
+              -0.0009895728322499298,
+              0.035067437398785595
+            ],
+            "button_min_z_position": [
+              0.12013150006532668,
+              -0.37232160568237305,
+              0.7698448896408081
+            ],
+            "min_active_finger_to_button": 0.14751073300400272,
+            "closest_active_finger": [
+              -0.022525906562805176,
+              -0.3577309250831604,
+              0.8108965158462524
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+            "closest_active_finger_button": [
+              0.12014976888895032,
+              -0.3723245561122894,
+              0.776398777961731
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1426756754517555,
+              0.014593631029128973,
+              0.034497737884521484
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+            "min_contact_pad_to_button": 0.02117417495688042,
+            "closest_contact_pad": [
+              0.12013150006532668,
+              -0.37445492583559314,
+              0.7909113233738453
+            ],
+            "closest_contact_pad_button": [
+              0.12013150006532668,
+              -0.37232160568237305,
+              0.7698448896408081
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021333201532200974,
+              0.021066433733037182
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2273fea249185ede124a21c9a6909800be850c2a55707b36227dec3178153830",
+    "visual_seed": 7297725046708957747,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d098c0d0e4c44195f02ea9c3fd799fc072d8f6b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.09059257668875859,
+              1.0455478420605768
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+            "gripper_z": 1.0479901796833095,
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+            "gripper_position": [
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+              0.08573517333881435,
+              1.0479901796833095
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+              0.0048574033499442365,
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+              0.31387194435150084,
+              0.06627755078502678,
+              1.0455478420605768
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+              0.09059257668875859,
+              1.0455478420605768
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+              0.30789867733720055,
+              0.07843506373689269,
+              1.0455478420605768
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+              0.0059732670143002875,
+              0.0121575129518659,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 0.7196854323738999,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
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+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa9621c330ed0b12da9e877e4509c6f5d507a7fa44b7b496234d0e6b5aba28d0",
+    "visual_seed": 6075643559412816294,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
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+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c01017055853609e5f2aa6a47f4338e51548c505
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.08526111655154008,
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+              0.07798502254667658,
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+            "stable_success_frames": 218,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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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": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "max_z_margin": 0.1,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
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+                "/World/target_beaker"
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.00700068473815918,
+            "max_z_decrease": 0.00700068473815918,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510993168051195,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00700068473815918,
+            "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": 0.021116600865302385,
+            "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": 0.00700068473815918,
+            "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": 0.007000703807111997,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11733527481555935,
+              -0.3737612962722778,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11733527481555935,
+              -0.3737612962722778,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11824601353008585,
+              -0.37272946293756565,
+              0.8076937205277155
+            ],
+            "closest_button": [
+              0.1173240467905998,
+              -0.37376180291175837,
+              0.7726110816001892
+            ],
+            "closest_ee_minus_button": [
+              0.000921966739486052,
+              0.0010323399741927197,
+              0.03508263892752628
+            ],
+            "button_min_z_position": [
+              0.11731895059347149,
+              -0.3737620115280151,
+              0.7698081731796265
+            ],
+            "min_active_finger_to_button": 0.14495801781043322,
+            "closest_active_finger": [
+              -0.009015604853630066,
+              -0.43592193722724915,
+              0.8108235597610474
+            ],
+            "closest_active_finger_button": [
+              0.11733586341142652,
+              -0.3737628757953643,
+              0.7764086723327637
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12635146826505658,
+              -0.06215906143188482,
+              0.03441488742828369
+            ],
+            "min_contact_pad_to_button": 0.021116600865302385,
+            "closest_contact_pad": [
+              0.11731895059347149,
+              -0.37383139923083897,
+              0.7909246600430038
+            ],
+            "closest_contact_pad_button": [
+              0.11731895059347149,
+              -0.3737620115280151,
+              0.7698081731796265
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -6.938770282388651e-05,
+              0.021116486863377304
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5cf7c5428ba92eb886a25bc6ce52d2e63313ea53c835a6adc62a616cd3cf689",
+    "visual_seed": 7819337400570143140,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e156be90620cee9eccdddb1adfb3ce365625ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3068414520338425,
+              0.08992078337790622,
+              1.0465263701804688
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+            "current_z": 1.0465263701804688,
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+            "lift_margin": 0.18993986277190344,
+            "gripper_z": 1.0492985745215742,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30190543847248746,
+              0.08509405646740502,
+              1.0492985745215742
+            ],
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+              0.004936013561355035,
+              0.004826726910501206,
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+            "object_to_gripper_z": -0.0027722043411053665,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3068414520338425,
+              0.06566874218513377,
+              1.0465263701804688
+            ],
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+              0.08992078337790622,
+              1.0465263701804688
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+            "finger_midpoint": [
+              0.30088357470401617,
+              0.07779476278152,
+              1.0465263701804688
+            ],
+            "object_minus_finger_midpoint": [
+              0.005957877329826333,
+              0.01212602059638622,
+              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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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895741362456095,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_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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+              "source_missing": false,
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08759691987045697,
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007441142000320113,
+            "max_held_gripper_dist": 0.007443050864559867,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029128078620195286,
+            "max_held_gripper_z_dist": 0.0029195605320544438,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651669542618576,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.0664035124783259,
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+              0.07916238204014815,
+              1.236787499602882
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+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "gripper",
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+                "joint1",
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+                "left_inner_finger",
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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",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
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+      "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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+              -0.3159678991644002,
+              0.8470198088188537
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+              0.25660614919593905,
+              -0.3173696535236086,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18376502746146603,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198088188537,
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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",
+            "release_finger_gap": 0.07513719203564245,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08677634001492719,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15311674791487387,
+            "release_required_pad_clearance": 0.0533881700074636,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7891986563134494,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006977558135986328,
+            "max_z_decrease": 0.006977558135986328,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508074448532597,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006977558135986328,
+            "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": 0.021149833365440626,
+            "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": 0.006977558135986328,
+            "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": 0.006977580259731272,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11230607330799099,
+              -0.37363111972808827,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11230607330799099,
+              -0.37363111972808827,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11333699016115795,
+              -0.3737213309847957,
+              0.8075421830388049
+            ],
+            "closest_button": [
+              0.11229524016380306,
+              -0.3736292123794555,
+              0.7724770307540894
+            ],
+            "closest_ee_minus_button": [
+              0.0010417499973548877,
+              -9.211860534019678e-05,
+              0.03506515228471552
+            ],
+            "button_min_z_position": [
+              0.11228850483894345,
+              -0.37363141775131214,
+              0.7698312997817993
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+            "min_active_finger_to_button": 0.1452260763813913,
+            "closest_active_finger": [
+              -0.028098508715629578,
+              -0.3602057099342346,
+              0.8110341429710388
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+            "closest_active_finger_button": [
+              0.11230820417404172,
+              -0.3736332058906554,
+              0.7764469981193542
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1404067128896713,
+              0.013427495956420787,
+              0.03458714485168457
+            ],
+            "min_contact_pad_to_button": 0.021149833365440626,
+            "closest_contact_pad": [
+              0.11228850483894345,
+              -0.3746267328348525,
+              0.7909577003098207
+            ],
+            "closest_contact_pad_button": [
+              0.11228850483894345,
+              -0.37363141775131214,
+              0.7698312997817993
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000995315083540338,
+              0.021126400528021394
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4ad05779d1aadbcfafd27dd04f96996e7dc4f28a87dab470925b2c0e0cfaf8ae",
+    "visual_seed": 6490992720337045163,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8249a29693bad2147227828c857b5a8429529eb1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3076032079273456,
+              0.08425854656502516,
+              1.0476849648574114
+            ],
+            "current_z": 1.0476849648574114,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.19109863626278012,
+            "gripper_z": 1.050345874386148,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3027735983152212,
+              0.07958375980484028,
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+              0.0005227015103516641,
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+              0.7698538899421692
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+              -0.4403679668903351,
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+              -0.37810268998146057,
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+            "closest_active_finger_minus_button": [
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+              -0.06226527690887451,
+              0.03448295593261719
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+            "closest_contact_pad": [
+              0.11352814733982082,
+              -0.37877556723559713,
+              0.7909916745868264
+            ],
+            "closest_contact_pad_button": [
+              0.11352814733982082,
+              -0.37809935212135315,
+              0.7699183225631714
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006762151142439832,
+              0.021073352023655012
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7deca9983419cfe2cc83fe48ff45e09107a5f605bffea8502d1fb4354dde0c16",
+    "visual_seed": 8777929379001665523,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..227cc1a78a2ce5f8a8bf174d823bf94a0fd122b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              0.0881987061761983,
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+              0.06368893271460142,
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+              0.07594381944539985,
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+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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": [],
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+      },
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+        "skill": "shake",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              -0.3146469119083689,
+              0.8470195069187624
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+              0.25883583782259034,
+              -0.31722753878157695,
+              0.8084375599031817
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18896651104835363,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195069187624,
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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",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15751911455370468,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.08846633615484639,
+            "object_max_tilt_deg": 12.0,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006712675094604492,
+            "max_z_decrease": 0.006712675094604492,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510948949993429,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006712675094604492,
+            "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": 0.021117743672836854,
+            "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": 0.006712675094604492,
+            "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": 0.006712693790201035,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11453576385974881,
+              -0.3734889924526214,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11453576385974881,
+              -0.3734889924526214,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11502962950050485,
+              -0.37241463185965523,
+              0.8079173386200914
+            ],
+            "closest_button": [
+              0.1145258620381355,
+              -0.3734895288944244,
+              0.7728279232978821
+            ],
+            "closest_ee_minus_button": [
+              0.0005037674623693533,
+              0.001074897034769151,
+              0.03508941532220933
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+            "button_min_z_position": [
+              0.11451994627714154,
+              -0.37348988652229304,
+              0.7700961828231812
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+            "min_active_finger_to_button": 0.14531301183293027,
+            "closest_active_finger": [
+              -0.013099223375320435,
+              -0.4338393211364746,
+              0.8110466003417969
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+            "closest_active_finger_button": [
+              0.11453780531883236,
+              -0.3734902143478393,
+              0.776656985282898
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12763702869415278,
+              -0.06034910678863531,
+              0.034389615058898926
+            ],
+            "min_contact_pad_to_button": 0.021117743672836854,
+            "closest_contact_pad": [
+              0.11451994627714154,
+              -0.37370895855136027,
+              0.7912127901566929
+            ],
+            "closest_contact_pad_button": [
+              0.11451994627714154,
+              -0.37348988652229304,
+              0.7700961828231812
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00021907202906723544,
+              0.021116607333511728
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e762f19ed2002a2b962c7f137d0b3963db466b767d3023444057a3cfa4cd6d65",
+    "visual_seed": 8507039359102468896,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da700492a471e381b2a4f096a51b0a5747ef4bf4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.08794285121209078,
+              1.046912140571035
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19032557355782476,
+            "gripper_z": 1.0495116703525604,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30643642428702167,
+              0.08302627997293582,
+              1.0495116703525604
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+              0.005071968240556002,
+              0.004916571239154954,
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+            "object_to_gripper_z": -0.0025995297815253338,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31150839252757767,
+              0.06359998662077791,
+              1.046912140571035
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+            "finger_b": [
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+              0.08794285121209078,
+              1.046912140571035
+            ],
+            "finger_midpoint": [
+              0.30548694491630907,
+              0.07577141891643435,
+              1.046912140571035
+            ],
+            "object_minus_finger_midpoint": [
+              0.006021447611268604,
+              0.012171432295656426,
+              0.0
+            ],
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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_to_finger_line_xy": 0.010794194972602192,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7986916553587005,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    }
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
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+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
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+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c82faa76cc2e6e1b9325ba8c1a446c927046b95272d930af873a9f9e2b34a7b",
+    "visual_seed": 5942052294574179671,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      5370397393835884011,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1779e5b02c06454cb64327628d5b316d59136d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_61_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+                "fr3_duo_mobile",
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+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "wrist_2_joint",
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+      "reason": "executed",
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+        "checker": {
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+              "robot_prim_substrings": [
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                "floor",
+                "ground",
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+      "reason": "executed",
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+        "checker": {
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+          "failure_messages": {},
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+            "policy": {
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+                "heater_platform"
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+              "robot_prim_substrings": [
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+                "contact_sensor",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
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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"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006700456142425537,
+            "max_z_decrease": 0.006700456142425537,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511532441378334,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006700456142425537,
+            "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": 0.021087372772224108,
+            "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": 0.006700456142425537,
+            "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": 0.006700475556672494,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11711924523115158,
+              -0.37756586074829096,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11711924523115158,
+              -0.37756586074829096,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11513097927197177,
+              -0.3770612829001136,
+              0.8080001519212122
+            ],
+            "closest_button": [
+              0.11710894107818604,
+              -0.37756600975990284,
+              0.7729442119598389
+            ],
+            "closest_ee_minus_button": [
+              -0.0019779618062142623,
+              0.0005047268597892507,
+              0.03505593996137335
+            ],
+            "button_min_z_position": [
+              0.11710313707590103,
+              -0.37756502628326405,
+              0.7701084017753601
+            ],
+            "min_active_finger_to_button": 0.14771790946959845,
+            "closest_active_finger": [
+              -0.012020476162433624,
+              -0.4404767155647278,
+              0.810745358467102
+            ],
+            "closest_active_finger_button": [
+              0.11711997538805008,
+              -0.3775674998760223,
+              0.7763105630874634
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1291404515504837,
+              -0.0629092156887055,
+              0.03443479537963867
+            ],
+            "min_contact_pad_to_button": 0.021087372772224108,
+            "closest_contact_pad": [
+              0.11710313707590103,
+              -0.3781771112466664,
+              0.7911868894448376
+            ],
+            "closest_contact_pad_button": [
+              0.11710313707590103,
+              -0.37756502628326405,
+              0.7701084017753601
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006120849634023706,
+              0.021078487669477508
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef9a3ce89621a87370fcfc7fb1d9bb6d0b6e5453961f62e0c5f6cd1d7b2acfce",
+    "visual_seed": 7017996166121739838,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f095d1f62a36cc2cf67140fddc716445bb460af0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3099108812788977,
+              0.08809421027009554,
+              1.0466186607572814
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+            "current_z": 1.0466186607572814,
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+            "lift_margin": 0.19003209374407104,
+            "gripper_z": 1.049374163038406,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3045478316071481,
+              0.08303396395835236,
+              1.049374163038406
+            ],
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+              0.005363049671749609,
+              0.005060246311743177,
+              -0.0027555022811245333
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+            "object_to_gripper_xy": 0.0073734926945894525,
+            "object_to_gripper_z": -0.0027555022811245333,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3099108812788977,
+              0.06352771319070133,
+              1.0466186607572814
+            ],
+            "finger_b": [
+              0.29768317475631784,
+              0.08809421027009554,
+              1.0466186607572814
+            ],
+            "finger_midpoint": [
+              0.3037970280176078,
+              0.07581096173039843,
+              1.0466186607572814
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061138532612899366,
+              0.012283248539697103,
+              0.0
+            ],
+            "finger_gap": 0.02744138454149547,
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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_to_finger_line_xy": 0.010946674943474885,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859646208736863,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7538796284218947,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08528057890880937,
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+              0.08981769369945485,
+              1.23747644293287
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007868049768890148,
+            "max_held_gripper_dist": 0.007873598384482452,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029018361122898906,
+            "max_held_gripper_z_dist": 0.0029089162971487337,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08664538432669405,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.06409703786362625,
+              1.23747644293287
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+              0.07695736578154055,
+              1.23747644293287
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+            "held_grasp_object_position": [
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+              0.08981769369945485,
+              1.23747644293287
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+            "held_grasp_finger_gap": 0.02755232571141369,
+            "held_grasp_max_gap": 0.1249237185716629,
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+            "held_grasp_size_source": "beaker_b_local_size",
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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",
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+                "fr3_rightfinger",
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+                "gripper",
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+                "joint3",
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+                "joint6",
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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",
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+                "ground",
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+                "table",
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+                "workbench"
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+            },
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+            "forbidden": [],
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+            "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26235358037928574,
+              -0.31175630372486285,
+              0.8470199962190105
+            ],
+            "target_position": [
+              0.25647498668928026,
+              -0.31354215329428037,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006143868688111834,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850412747003514,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199962190105,
+            "min_z": 0.5730800627579278,
+            "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": 0.07531185871136761,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856309368868851,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15419469391965732,
+            "release_required_pad_clearance": 0.05281546844344255,
+            "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": 0.6760824463312217,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006778597831726074,
+            "max_z_decrease": 0.006778597831726074,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509051810523772,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006778597831726074,
+            "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": 0.02112049720487424,
+            "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": 0.006778597831726074,
+            "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": 0.006778616115292456,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11217491328716275,
+              -0.36980360746383656,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11217491328716275,
+              -0.36980360746383656,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1117830096988161,
+              -0.36877577298582354,
+              0.8077549488599522
+            ],
+            "closest_button": [
+              0.11216480284929273,
+              -0.36980459094047535,
+              0.7726815938949585
+            ],
+            "closest_ee_minus_button": [
+              -0.00038179315047662254,
+              0.0010288179546518172,
+              0.03507335496499375
+            ],
+            "button_min_z_position": [
+              0.11215920001268384,
+              -0.36980459094047535,
+              0.7700302600860596
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+            "min_active_finger_to_button": 0.14611501780853894,
+            "closest_active_finger": [
+              -0.015985645353794098,
+              -0.4309428930282593,
+              0.8108939528465271
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+            "closest_active_finger_button": [
+              0.11217577755451198,
+              -0.3698057532310485,
+              0.7764483690261841
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12816142290830607,
+              -0.061137139797210804,
+              0.03444558382034302
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+            "min_contact_pad_to_button": 0.02112049720487424,
+            "closest_contact_pad": [
+              0.11215920001268384,
+              -0.36999557366194,
+              0.7911498937898245
+            ],
+            "closest_contact_pad_button": [
+              0.11215920001268384,
+              -0.36980459094047535,
+              0.7700302600860596
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000190982721464672,
+              0.021119633703764906
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "79c2a82221e9a5dc50788fe9163a20d226469c59c2d33e54423b85f3e273aef5",
+    "visual_seed": 3693501325971082619,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3395e3ef29d54212cb1144a3fadc99b42f3edb5e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.31251537115745787,
+              0.09053758666716323,
+              1.0463867060908842
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+            "current_z": 1.0463867060908842,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18980019868231868,
+            "gripper_z": 1.048821146741936,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3074235897435421,
+              0.08575857666157764,
+              1.048821146741936
+            ],
+            "object_minus_gripper": [
+              0.0050917814139157525,
+              0.004779010005585588,
+              -0.0024344406510516947
+            ],
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+              0.7700691819190979
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+              -0.43450435996055603,
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+              -0.3739950656890868,
+              0.7766328454017639
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+              -0.1261145696043968,
+              -0.06050929427146923,
+              0.0344124436378479
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+            "closest_contact_pad": [
+              0.11225306242704389,
+              -0.37399372458457936,
+              0.7911919703916073
+            ],
+            "closest_contact_pad_button": [
+              0.11225306242704389,
+              -0.37399372458457936,
+              0.7700691819190979
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02112278847250937
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "780d5349ac536098ad4493d72256ec506679493108db7a8f858b7ca387ae0249",
+    "visual_seed": 7499024737969998489,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34d8f7fb8253d834348c127beeb40e4beae14ef9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              0.0865664058582723,
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+              0.06231800512118426,
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+              0.07444220548972828,
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+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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,
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+              "allowed_object_paths": [
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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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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2654460502910672,
+              -0.31465667345129356,
+              0.8470193675436316
+            ],
+            "target_position": [
+              0.2605997643723907,
+              -0.3158670602189767,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004995149981026082,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18339817305337908,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193675436316,
+            "min_z": 0.5730800627579278,
+            "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": 0.07514789427805722,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569175399301708,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527476261927366,
+            "release_required_pad_clearance": 0.05284587699650854,
+            "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": 0.733816149999055,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006683170795440674,
+            "max_z_decrease": 0.006683170795440674,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035120678002413024,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006683170795440674,
+            "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": 0.021089401242098797,
+            "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": 0.006683170795440674,
+            "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": 0.006683190672368221,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11629968881607057,
+              -0.37212851643562306,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11629968881607057,
+              -0.37212851643562306,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1146987360010806,
+              -0.37112226299006634,
+              0.8079508810575835
+            ],
+            "closest_button": [
+              0.11628839373588562,
+              -0.37213000655174244,
+              0.7728806734085083
+            ],
+            "closest_ee_minus_button": [
+              -0.0015896577348050167,
+              0.0010077435616761,
+              0.0350702076490752
+            ],
+            "button_min_z_position": [
+              0.11628339439630508,
+              -0.37212809920310963,
+              0.770125687122345
+            ],
+            "min_active_finger_to_button": 0.14717554458167934,
+            "closest_active_finger": [
+              -0.013251006603240967,
+              -0.43290966749191284,
+              0.8110992312431335
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+            "closest_active_finger_button": [
+              0.11630217730998994,
+              -0.3721308708190917,
+              0.7767109870910645
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1295531839132309,
+              -0.060778796672821156,
+              0.03438824415206909
+            ],
+            "min_contact_pad_to_button": 0.021089401242098797,
+            "closest_contact_pad": [
+              0.11628339439630508,
+              -0.37244038363003223,
+              0.7912127761387773
+            ],
+            "closest_contact_pad_button": [
+              0.11628339439630508,
+              -0.37212809920310963,
+              0.770125687122345
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003122844269226044,
+              0.021087089016432303
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f2f299094d07afb70512d512ce732d72ab9efbfbbbb09a1607188a0b51143a2",
+    "visual_seed": 224095960126732428,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f31ba078df16d7735ec41f7987dcdc7eaa722b5b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.08945905112567887,
+              1.0464432437580844
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+            "lift_margin": 0.18985661714022917,
+            "gripper_z": 1.0491171862876105,
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+            "gripper_position": [
+              0.30666896123624227,
+              0.08456572444174863,
+              1.0491171862876105
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+              0.004893326683930235,
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+            "object_to_gripper_z": -0.00267394252952613,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.06502842936395943,
+              1.0464432437580844
+            ],
+            "finger_b": [
+              0.29984039774539784,
+              0.08945905112567887,
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+            ],
+            "finger_midpoint": [
+              0.30581737889521043,
+              0.07724374024481914,
+              1.0464432437580844
+            ],
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+              0.005976981149812544,
+              0.012215310880859725,
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+            ],
+            "finger_gap": 0.027198391392232346,
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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,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
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+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
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+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5054adb6211d0479286171072550209daec8036ed1aea8b3f2499d033239802",
+    "visual_seed": 8300486234648569050,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3ed39c5602cb5c8abfc6e1e57f3b44da9b903c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "desk",
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+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "passed": true,
+            "source_missing": false,
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+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "passed": true,
+          "metrics": {
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+          "failure_code": null,
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+              "robot_prim_substrings": [
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
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+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+      "skill": "place",
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+      "reason": "executed",
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+        "checker": {
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+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
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+                "/World/target_beaker"
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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",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
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+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007008552551269531,
+            "max_z_decrease": 0.007008552551269531,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512742282945723,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007008552551269531,
+            "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": 0.021247477872374854,
+            "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": 0.007008552551269531,
+            "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": 0.007008574971127295,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1155678257346153,
+              -0.37453824281692494,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1155678257346153,
+              -0.37453824281692494,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11683312778070337,
+              -0.3757649894455624,
+              0.8076548590850657
+            ],
+            "closest_button": [
+              0.11555661261081693,
+              -0.3745376467704772,
+              0.7725721001625061
+            ],
+            "closest_ee_minus_button": [
+              0.001276515169886444,
+              -0.00122734267508523,
+              0.03508275892255963
+            ],
+            "button_min_z_position": [
+              0.11555010080337523,
+              -0.3745385408401488,
+              0.7698003053665161
+            ],
+            "min_active_finger_to_button": 0.14485095205737142,
+            "closest_active_finger": [
+              -0.024293921887874603,
+              -0.35931867361068726,
+              0.8109124898910522
+            ],
+            "closest_active_finger_button": [
+              0.11556836217641828,
+              -0.37453946471214283,
+              0.7764354348182678
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13986228406429288,
+              0.015220791101455577,
+              0.034477055072784424
+            ],
+            "min_contact_pad_to_button": 0.021247477872374854,
+            "closest_contact_pad": [
+              0.11555010080337523,
+              -0.37692933363026804,
+              0.7909128472734437
+            ],
+            "closest_contact_pad_button": [
+              0.11555010080337523,
+              -0.3745385408401488,
+              0.7698003053665161
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023907927901192227,
+              0.021112541906927573
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3300dc2879273ef65ca7081259cceed2716123e8a02c7128bc6abfda893c6ce8",
+    "visual_seed": 5723282912798689833,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c6a5d28465e6fb04a5cbd651bf995c303555ee0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30645550782778247,
+              0.09682173424781343,
+              1.046246445155282
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+            "current_z": 1.046246445155282,
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+            "lift_margin": 0.1896599377467164,
+            "gripper_z": 1.048934590034691,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3015053757497853,
+              0.091982081895822,
+              1.048934590034691
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+              0.00495013207799716,
+              0.004839652351991436,
+              -0.002688144879408938
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+            "object_to_gripper_z": -0.002688144879408938,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30645550782778247,
+              0.07254837170542622,
+              1.046246445155282
+            ],
+            "finger_b": [
+              0.2945444575153312,
+              0.09682173424781343,
+              1.046246445155282
+            ],
+            "finger_midpoint": [
+              0.30049998267155686,
+              0.08468505297661982,
+              1.046246445155282
+            ],
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+              0.005955525156225605,
+              0.012136681271193606,
+              0.0
+            ],
+            "finger_gap": 0.027038292265968128,
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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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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875706400484604,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8466785214160883,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.09443429882037009,
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+              0.09877023383870115,
+              1.237926154625845
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007425085790331791,
+            "max_held_gripper_dist": 0.007430605755084084,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002816329023073605,
+            "max_held_gripper_z_dist": 0.0028249778865692132,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08628203285267216,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.0732864732614493,
+              1.237926154625845
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+              0.08602835355007522,
+              1.237926154625845
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+            "held_grasp_object_position": [
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+              0.09877023383870115,
+              1.237926154625845
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+            "held_grasp_finger_gap": 0.027205835001795017,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024604176066012742,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08247704765511712,
+              -0.9963134055237721,
+              0.023603698517804417
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+                "Robotiq_2F_85",
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+                "elbow_joint",
+                "festo",
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+                "fr3_joint1",
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+                "fr3_joint4",
+                "fr3_joint5",
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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",
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+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+            },
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.2705254788336968,
+              -0.3170540772941531,
+              0.8470197889294995
+            ],
+            "target_position": [
+              0.2635876359260423,
+              -0.3192393134087173,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007273851874192111,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18549844175738608,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197889294995,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514673817326216,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08631146528106294,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15510068408185437,
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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": 1.334105353408023,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006909728050231934,
+            "max_z_decrease": 0.006909728050231934,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514077595655828,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006909728050231934,
+            "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": 0.02119617782421549,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.006909728050231934,
+            "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": 0.00690975212276487,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11928756535053253,
+              -0.3755007684230804,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11928756535053253,
+              -0.3755007684230804,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12095988263904658,
+              -0.37637463655015646,
+              0.8079931408433283
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+            "closest_button": [
+              0.11927792429924013,
+              -0.37550148367881764,
+              0.7729035019874573
+            ],
+            "closest_ee_minus_button": [
+              0.001681958339806458,
+              -0.0008731528713388226,
+              0.03508963885587102
+            ],
+            "button_min_z_position": [
+              0.11926932632923126,
+              -0.37550085783004755,
+              0.7698991298675537
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+            "min_active_finger_to_button": 0.14450458410590125,
+            "closest_active_finger": [
+              -0.02025274932384491,
+              -0.3605816960334778,
+              0.8111847043037415
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+            "closest_active_finger_button": [
+              0.11929149180650711,
+              -0.37549984455108637,
+              0.7767401337623596
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13954424113035202,
+              0.014918148517608587,
+              0.034444570541381836
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+            "min_contact_pad_to_button": 0.02119617782421549,
+            "closest_contact_pad": [
+              0.11926932632923126,
+              -0.37746935361067147,
+              0.7910037023275073
+            ],
+            "closest_contact_pad_button": [
+              0.11926932632923126,
+              -0.37550085783004755,
+              0.7698991298675537
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019684957806239134,
+              0.021104572459953563
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52e02923d212a3b29ee88def49ec0915125e48031cc81512bf2fc82a08f6514b",
+    "visual_seed": 6663360170442449191,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..61bc3db4fc9eac016381cd30dd3888a78a868da9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.0956950225389915,
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+            "gripper_z": 1.0476075701392504,
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+              0.004937461038897306,
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+            "object_to_gripper_z": -0.0027325531271624737,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30887020147540034,
+              0.07122390864181523,
+              1.044875017012088
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+            "finger_b": [
+              0.2968388517185606,
+              0.0956950225389915,
+              1.044875017012088
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+            "finger_midpoint": [
+              0.3028545265969805,
+              0.08345946559040336,
+              1.044875017012088
+            ],
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+              -0.12805816531181335,
+              -0.0654376745223999,
+              0.034529924392700195
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+            "closest_contact_pad": [
+              0.11151018738746642,
+              -0.3760501905959916,
+              0.7910917762891809
+            ],
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+              0.11151018738746642,
+              -0.3750524818897247,
+              0.7699927091598511
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009977087062669199,
+              0.02109906712932985
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "445fddba172bf66fcb1e92632ef6fe497c075a2fd27d0b8ad1db9b446c0c543e",
+    "visual_seed": 4538589787644956857,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..42b90fb43983d07ef20dd52d6ce392216c04c5de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              0.0737088109609953,
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+            "stable_success_frames": 216,
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+          "failed_keys": [],
+          "failure_code": null,
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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,
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+      "physical_semantics": {
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.2646469923216363,
+              -0.3208272727083118,
+              0.8470190866855991
+            ],
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+              0.25983738181849647,
+              -0.322223182243259,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.005008085125241935,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18586159816816095,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190866855991,
+            "min_z": 0.5730800627579278,
+            "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": 0.07568873028004111,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08687399730631908,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538111883685526,
+            "release_required_pad_clearance": 0.05343699865315954,
+            "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": 1.884644899615338,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006713747978210449,
+            "max_z_decrease": 0.006713747978210449,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512397131854704,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006713747978210449,
+            "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": 0.021114355848103034,
+            "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": 0.006713747978210449,
+            "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": 0.006713766402907153,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11553730815649028,
+              -0.3784846365451813,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11553730815649028,
+              -0.3784846365451813,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11668716165339024,
+              -0.3776957697737777,
+              0.8080843159259655
+            ],
+            "closest_button": [
+              0.11552679538726804,
+              -0.3784845173358917,
+              0.7729883790016174
+            ],
+            "closest_ee_minus_button": [
+              0.0011603662661222036,
+              0.0007887475621140005,
+              0.03509593692434809
+            ],
+            "button_min_z_position": [
+              0.11552158743143079,
+              -0.37848514318466187,
+              0.7700951099395752
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+            "min_active_finger_to_button": 0.14485087787782625,
+            "closest_active_finger": [
+              -0.011466234922409058,
+              -0.4390670955181122,
+              0.810679018497467
+            ],
+            "closest_active_finger_button": [
+              0.11553806811571118,
+              -0.37848567962646484,
+              0.7763049602508545
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12700430303812024,
+              -0.06058141589164734,
+              0.03437405824661255
+            ],
+            "min_contact_pad_to_button": 0.021114355848103034,
+            "closest_contact_pad": [
+              0.11552158743143079,
+              -0.3789717181733082,
+              0.7912038585443776
+            ],
+            "closest_contact_pad_button": [
+              0.11552158743143079,
+              -0.37848514318466187,
+              0.7700951099395752
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00048657498864634885,
+              0.021108748604802385
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1808b9acdbe7ac444dd326efd51f958bdf8265570248d63f754021c9548fbdf",
+    "visual_seed": 472446400893049340,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf00a607e7fec46036ab2e358624de467d5d9cc3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3138646739071427,
+              0.09419743131729412,
+              1.0485962225598338
+            ],
+            "current_z": 1.0485962225598338,
+            "required_z": 0.8565866266178549,
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+            "lift_margin": 0.19200959594197886,
+            "gripper_z": 1.0512347328961458,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30848359673800024,
+              0.08913683447988974,
+              1.0512347328961458
+            ],
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+              0.005381077169142434,
+              0.0050605968374043825,
+              -0.0026385103363120166
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+            "object_to_gripper_xy": 0.007386855342499486,
+            "object_to_gripper_z": -0.0026385103363120166,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3138646739071427,
+              0.06960198354767921,
+              1.0485962225598338
+            ],
+            "finger_b": [
+              0.3016571416722357,
+              0.09419743131729412,
+              1.0485962225598338
+            ],
+            "finger_midpoint": [
+              0.3077609077896892,
+              0.08189970743248667,
+              1.0485962225598338
+            ],
+            "object_minus_finger_midpoint": [
+              0.006103766117453502,
+              0.012297723884807446,
+              0.0
+            ],
+            "finger_gap": 0.027458330143221535,
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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_to_finger_line_xy": 0.010934740747651245,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048676822707133735,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8002139320013475,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0fdb10bf2f857d41a822eb7e4915dfc78b4cfbee88d37509930d6a9f49db8502",
+    "visual_seed": 4727258178972502229,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91ff366ccfbddbf35add16317cc8630302d0f58d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
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+                },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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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": [
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
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+      "reason": "executed",
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+        "checker": {
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+            "object_upright_axis_local": null,
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+            "placed_release_frames": 148,
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007049739360809326,
+            "max_z_decrease": 0.007049739360809326,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512429338772575,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007049739360809326,
+            "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": 0.021113015288277248,
+            "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": 0.007049739360809326,
+            "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": 0.007049758090612547,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12046480178833006,
+              -0.3735294640064239,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12046480178833006,
+              -0.3735294640064239,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12095992109863374,
+              -0.3720009470226298,
+              0.8076690850042144
+            ],
+            "closest_button": [
+              0.1204542517662048,
+              -0.3735291659832,
+              0.7725816965103149
+            ],
+            "closest_ee_minus_button": [
+              0.0005056693324289319,
+              0.0015282189605702046,
+              0.035087388493899474
+            ],
+            "button_min_z_position": [
+              0.12044856697320937,
+              -0.3735301792621612,
+              0.7697591185569763
+            ],
+            "min_active_finger_to_button": 0.1451019792414611,
+            "closest_active_finger": [
+              -0.006203927099704742,
+              -0.4353911280632019,
+              0.8107706904411316
+            ],
+            "closest_active_finger_button": [
+              0.12046511471271512,
+              -0.373530238866806,
+              0.7763792872428894
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12666904181241986,
+              -0.06186088919639593,
+              0.03439140319824219
+            ],
+            "min_contact_pad_to_button": 0.021113015288277248,
+            "closest_contact_pad": [
+              0.12044856697320937,
+              -0.3735301792621612,
+              0.7908721338452536
+            ],
+            "closest_contact_pad_button": [
+              0.12044856697320937,
+              -0.3735301792621612,
+              0.7697591185569763
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021113015288277248
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc766b6814a77c09934b4e3ec7cfec343d188653e39422607446aafd1b0c6593",
+    "visual_seed": 8659659221704060863,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba4c05d23b12401a2c1306f075be3254075c18bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31437636473891345,
+              0.09012767138550078,
+              1.04584454016791
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+            "lift_margin": 0.18925791355005483,
+            "gripper_z": 1.048303804053657,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30943913622955604,
+              0.08533472817781385,
+              1.048303804053657
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+              0.004937228509357405,
+              0.004792943207686931,
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+            "object_to_gripper_z": -0.0024592638857470206,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31437636473891345,
+              0.06582869763414131,
+              1.04584454016791
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+            "finger_b": [
+              0.30257373450951375,
+              0.09012767138550078,
+              1.04584454016791
+            ],
+            "finger_midpoint": [
+              0.30847504962421357,
+              0.07797818450982105,
+              1.04584454016791
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+            "object_minus_finger_midpoint": [
+              0.005901315114699879,
+              0.012149486875679724,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849446319913543,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08776738306450636,
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+              0.09209130900328465,
+              1.235987129371312
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073082147218148435,
+            "max_held_gripper_dist": 0.007309855966457963,
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+            "held_gripper_z_dist": 0.002601542640220167,
+            "max_held_gripper_z_dist": 0.0026091081621839596,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08756958842519919,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.06659719048031498,
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+              0.07934424974179982,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024704824470905776,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9970166759153803,
+              0.015684440769088037
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00374728580657743,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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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",
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+                "joint6",
+                "joint7",
+                "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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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26597032577600194,
+              -0.3189181732663668,
+              0.8470198476354927
+            ],
+            "target_position": [
+              0.2581473075483388,
+              -0.3218471654001379,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008353359151266192,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1878422123875474,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198476354927,
+            "min_z": 0.5730800627579278,
+            "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": 0.07551995871760456,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507431071371281,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15653796085505473,
+            "release_required_pad_clearance": 0.05253715535685641,
+            "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": 0.14265169061188623,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006661176681518555,
+            "max_z_decrease": 0.006661176681518555,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035111350094642335,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006661176681518555,
+            "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": 0.02111548479263703,
+            "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": 0.006661176681518555,
+            "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": 0.006661200244664701,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11384723335504526,
+              -0.3781086206436157,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11384723335504526,
+              -0.3781086206436157,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11336550456767105,
+              -0.37645421727000383,
+              0.808002621026066
+            ],
+            "closest_button": [
+              0.1138364523649215,
+              -0.3781071901321411,
+              0.7729333639144897
+            ],
+            "closest_ee_minus_button": [
+              -0.00047094779725044555,
+              0.0016529728621372808,
+              0.03506925711157627
+            ],
+            "button_min_z_position": [
+              0.11382951587438578,
+              -0.37810853123664856,
+              0.7701476812362671
+            ],
+            "min_active_finger_to_button": 0.14591530236959474,
+            "closest_active_finger": [
+              -0.013182833790779114,
+              -0.44106799364089966,
+              0.8108735680580139
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+            "closest_active_finger_button": [
+              0.1138488054275512,
+              -0.3781098425388336,
+              0.7763698101043701
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12703163921833033,
+              -0.06295815110206604,
+              0.0345037579536438
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+            "min_contact_pad_to_button": 0.02111548479263703,
+            "closest_contact_pad": [
+              0.11382951587438578,
+              -0.37810853123664856,
+              0.7912631660289041
+            ],
+            "closest_contact_pad_button": [
+              0.11382951587438578,
+              -0.37810853123664856,
+              0.7701476812362671
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02111548479263703
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33c3c5db8584779954126da9803ed27562659856135db822a3be5ac96a0cb4f5",
+    "visual_seed": 3270918784236444520,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c93c0d631a0fea4332c8fad0c61d6203b7e8fcee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.08887892707566895,
+              1.0460637084644062
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+            "lift_margin": 0.18947720105584065,
+            "gripper_z": 1.049072134941878,
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+            "gripper_position": [
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+              0.08392108318324758,
+              1.049072134941878
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+              0.005436430011587612,
+              0.004957843892421376,
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+            "object_to_gripper_xy": 0.007357648220220264,
+            "object_to_gripper_z": -0.003008426477471682,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3138056793056112,
+              0.06401195639278659,
+              1.0460637084644062
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+            "finger_b": [
+              0.3020503260207543,
+              0.08887892707566895,
+              1.0460637084644062
+            ],
+            "finger_midpoint": [
+              0.30792800266318276,
+              0.07644544173422776,
+              1.0460637084644062
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+            "object_minus_finger_midpoint": [
+              0.005877676642428442,
+              0.012433485341441189,
+              0.0
+            ],
+            "finger_gap": 0.027505536929773367,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+              0.11552722007036208,
+              -0.3768297611790267,
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+            ],
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+              0.11552722007036208,
+              -0.37652319669723505,
+              0.7700537443161011
+            ],
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+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003065644817916713,
+              0.02111765672528909
+            ]
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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": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c3d1852d9f6e933cb8ef9be2ae68f3fc4d9e621f1999515ef22ffad0ad0ad89",
+    "visual_seed": 6522223242505363379,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c05aeb3932d94c11409e0231362a2707eb172450
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.07928341306369774,
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+            "stable_success_frames": 216,
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+          "failed_keys": [],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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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+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
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+          "metrics": {
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+          "safety": {
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+              "held_object": "beaker_b",
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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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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+              0.2644574749888531,
+              -0.32257876270678687,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007121075562287175,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18682730499968647,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194609926841,
+            "min_z": 0.5730800627579278,
+            "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": 0.07549536171774889,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534498740434017,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15530901686735654,
+            "release_required_pad_clearance": 0.05267249370217009,
+            "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": 0.4015377404445944,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006878972053527832,
+            "max_z_decrease": 0.006878972053527832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035129576072975545,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006878972053527832,
+            "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": 0.02108984966410628,
+            "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": 0.006878972053527832,
+            "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": 0.0068789874279146035,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1201573982834816,
+              -0.37884020805358887,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1201573982834816,
+              -0.37884020805358887,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11867864804701478,
+              -0.37769546202394816,
+              0.8072421955592447
+            ],
+            "closest_button": [
+              0.12014652043581008,
+              -0.3788380026817322,
+              0.7721619009971619
+            ],
+            "closest_ee_minus_button": [
+              -0.0014678723887952966,
+              0.0011425406577840191,
+              0.03508029456208284
+            ],
+            "button_min_z_position": [
+              0.12014289200305936,
+              -0.3788391649723053,
+              0.7699298858642578
+            ],
+            "min_active_finger_to_button": 0.14692261157451153,
+            "closest_active_finger": [
+              -0.008559241890907288,
+              -0.440751850605011,
+              0.8110742568969727
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+            "closest_active_finger_button": [
+              0.1201600208878517,
+              -0.3788423538208008,
+              0.7766530513763428
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.128719262778759,
+              -0.061909496784210205,
+              0.03442120552062988
+            ],
+            "min_contact_pad_to_button": 0.02108984966410628,
+            "closest_contact_pad": [
+              0.12014289200305936,
+              -0.37886304030030626,
+              0.7910197220140082
+            ],
+            "closest_contact_pad_button": [
+              0.12014289200305936,
+              -0.3788391649723053,
+              0.7699298858642578
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -2.3875328000966256e-05,
+              0.02108983614975035
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73a9b6b7b246da988932663d75587a21f1b96860855c62a24192499d274d558e",
+    "visual_seed": 7852217052025826792,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bacb62f454d39d46391ef6b6ec6e53ec06548eec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30789344282181963,
+              0.09158537056771397,
+              1.0456078452305206
+            ],
+            "current_z": 1.0456078452305206,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.18902121861266552,
+            "gripper_z": 1.0483914336293207,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.303032540769262,
+              0.08678087878446147,
+              1.0483914336293207
+            ],
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+              0.004860902052557625,
+              0.004804491783252499,
+              -0.0027835883988001076
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+            "object_to_gripper_z": -0.0027835883988001076,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30789344282181963,
+              0.06733949262687912,
+              1.0456078452305206
+            ],
+            "finger_b": [
+              0.29607962340186644,
+              0.09158537056771397,
+              1.0456078452305206
+            ],
+            "finger_midpoint": [
+              0.30198653311184304,
+              0.07946243159729655,
+              1.0456078452305206
+            ],
+            "object_minus_finger_midpoint": [
+              0.005906909709976593,
+              0.012122938970417427,
+              0.0
+            ],
+            "finger_gap": 0.02697089035254723,
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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_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04987654101151827,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8163597999161003,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e6146fdd479edd7172fdfa3e2182952130e45647459eab066c63c35c3bad227e",
+    "visual_seed": 8998752882360384261,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      2635298924869554144,
+      5370397393835884011,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26e3c21ceba184bee8fe4a0f3b330309216fe1ab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+          "failure_messages": {},
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+                "desk",
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+                "ground",
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+                "workbench"
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+              "enabled": true
+            },
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "passed": true,
+          "metrics": {
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+                "beaker_b"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
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+                "table",
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+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+      "skill": "place",
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+      "reason": "executed",
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+        "checker": {
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+            "placed_release_frames": 149,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "heater_platform"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_joint7",
+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+              "ignored_prim_substrings": [
+                "base_link",
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+                "desk",
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+                "ground",
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+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006848573684692383,
+            "max_z_decrease": 0.006848573684692383,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509987195960221,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006848573684692383,
+            "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": 0.021117911287399798,
+            "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": 0.006848573684692383,
+            "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": 0.006848597480408891,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11332199722528458,
+              -0.37664675712585444,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11332199722528458,
+              -0.37664675712585444,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11388767899979271,
+              -0.3756851611035266,
+              0.80777334290539
+            ],
+            "closest_button": [
+              0.1133108139038086,
+              -0.3766460716724395,
+              0.7726913690567017
+            ],
+            "closest_ee_minus_button": [
+              0.0005768650959841193,
+              0.0009609105689128983,
+              0.035081973848688386
+            ],
+            "button_min_z_position": [
+              0.11330394446849823,
+              -0.3766469359397887,
+              0.7699602842330933
+            ],
+            "min_active_finger_to_button": 0.1452961551597231,
+            "closest_active_finger": [
+              -0.01392112672328949,
+              -0.43776199221611023,
+              0.8109928965568542
+            ],
+            "closest_active_finger_button": [
+              0.11332280188798904,
+              -0.3766477108001708,
+              0.7765690684318542
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12724392861127853,
+              -0.06111428141593944,
+              0.034423828125
+            ],
+            "min_contact_pad_to_button": 0.021117911287399798,
+            "closest_contact_pad": [
+              0.11330394446849823,
+              -0.37690744839574153,
+              0.7910765886067942
+            ],
+            "closest_contact_pad_button": [
+              0.11330394446849823,
+              -0.3766469359397887,
+              0.7699602842330933
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002605124559528216,
+              0.021116304373700934
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18886362387b5d1fe49fe3daf90dd03d984bcf17dc039ddadaf275bb4a311c5f",
+    "visual_seed": 3079060820387459076,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1871a29064eeb0bb40f554c32bf288b8ac9799b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.08481643728570273,
+              1.045204373235499
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+            "gripper_z": 1.0478626670112523,
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+            "gripper_position": [
+              0.3026136303560798,
+              0.08020413389353705,
+              1.0478626670112523
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+              0.004721770166796813,
+              0.004612303392165687,
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+            "object_to_gripper_z": -0.0026582937757533287,
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+              0.06053381585405923,
+              1.045204373235499
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+            "finger_b": [
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+              1.045204373235499
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+            "finger_midpoint": [
+              0.3016495526384383,
+              0.07267512656988098,
+              1.045204373235499
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+              0.005685847884438322,
+              0.012141310715821751,
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+            "finger_gap": 0.026813451255897652,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+              1.0
+            ],
+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+          }
+        },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08230477385292641,
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00711753438489701,
+            "max_held_gripper_dist": 0.007120302440133968,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027869826049038426,
+            "max_held_gripper_z_dist": 0.002792755737199837,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08698994930135537,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.02463556639893844,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9966756663098914,
+              0.03467461150772399
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036505665498916323,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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",
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+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27050563988227394,
+              -0.3176924067203019,
+              0.8470195518332898
+            ],
+            "target_position": [
+              0.26497618031095155,
+              -0.31933886848932586,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005769381206658672,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18349020725996135,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195518332898,
+            "min_z": 0.5730800627579278,
+            "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": 0.07583274113466439,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08607505452711646,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15120081284506065,
+            "release_required_pad_clearance": 0.05303752726355823,
+            "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": 1.1056937706328878,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006831645965576172,
+            "max_z_decrease": 0.006831645965576172,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035085215503391935,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006831645965576172,
+            "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": 0.021110537748556556,
+            "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": 0.006831645965576172,
+            "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": 0.006831667371742069,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12067610770463941,
+              -0.3756003379821777,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12067610770463941,
+              -0.3756003379821777,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12028028249793968,
+              -0.3753572095061457,
+              0.8080390918484741
+            ],
+            "closest_button": [
+              0.12066672742366788,
+              -0.3756004869937897,
+              0.7729568481445312
+            ],
+            "closest_ee_minus_button": [
+              -0.0003864449257282021,
+              0.00024327748764396695,
+              0.03508224370394286
+            ],
+            "button_min_z_position": [
+              0.12065901607275008,
+              -0.3755997419357299,
+              0.7699772119522095
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+            "min_active_finger_to_button": 0.14644230239513803,
+            "closest_active_finger": [
+              -0.006690077483654022,
+              -0.439156174659729,
+              0.8112013339996338
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+            "closest_active_finger_button": [
+              0.12067754566669461,
+              -0.3756009042263031,
+              0.7767983675003052
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12736762315034864,
+              -0.0635552704334259,
+              0.03440296649932861
+            ],
+            "min_contact_pad_to_button": 0.021110537748556556,
+            "closest_contact_pad": [
+              0.12065901607275008,
+              -0.37643244245884755,
+              0.7910713204631665
+            ],
+            "closest_contact_pad_button": [
+              0.12065901607275008,
+              -0.3755997419357299,
+              0.7699772119522095
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008327005231176243,
+              0.021094108510957055
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33f866e88d5cb99a9967bab4e705b54a56b0f86114d9e3b390c15eaab4720339",
+    "visual_seed": 2522532189735262383,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6865ff168283eeeb18eb4b9c7ef116984a889ec4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.09229600435295855,
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+            "lift_margin": 0.1895494092996609,
+            "gripper_z": 1.0487652313889257,
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+            "gripper_position": [
+              0.30197053119638717,
+              0.08751918404013048,
+              1.0487652313889257
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+              0.00477682031282807,
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+            "object_to_gripper_z": -0.002629255076054493,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3070123263807857,
+              0.06780674137802509,
+              1.0461359763128713
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+            "finger_b": [
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+              1.0461359763128713
+            ],
+            "finger_midpoint": [
+              0.30119712554060357,
+              0.08005137286549183,
+              1.0461359763128713
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+              0.005815200840182111,
+              0.012244631487466726,
+              0.0
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+            "finger_gap": 0.027110703500685222,
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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": 0.8159618521534726,
+            "object_to_finger_line_xy": 0.010505812409012133,
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+          "failure_messages": {},
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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": {
+              "passed": true,
+              "source_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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f1c13b736ee8cf69eccca7da0c06fdd9f3ec73f18334e12252c562fdab2546e",
+    "visual_seed": 4729377710187478176,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c5549e354db4859df2f502e9432a8516debb6a2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "stable_success_frames": 217,
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+            "required_stable_lift_frames": 5
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "ground",
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+                "wheel",
+                "workbench"
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+            },
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "safety": {
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+              "held_object": "beaker_b",
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_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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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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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",
+            "release_finger_gap": 0.07560554918557469,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540578814361564,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15222539134409166,
+            "release_required_pad_clearance": 0.052702894071807824,
+            "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": 0.45970019409119584,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006679236888885498,
+            "max_z_decrease": 0.006679236888885498,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507651284107544,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006679236888885498,
+            "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": 0.021156041957220335,
+            "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": 0.006679236888885498,
+            "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": 0.006679256181884732,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11178105324506761,
+              -0.37106502056121826,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11178105324506761,
+              -0.37106502056121826,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11242708863169054,
+              -0.3711332843587758,
+              0.8078271055787155
+            ],
+            "closest_button": [
+              0.11177006363868715,
+              -0.37106409668922424,
+              0.772756814956665
+            ],
+            "closest_ee_minus_button": [
+              0.0006570249930033939,
+              -6.918766955155142e-05,
+              0.03507029062205047
+            ],
+            "button_min_z_position": [
+              0.11176501959562302,
+              -0.3710658252239228,
+              0.7701296210289001
+            ],
+            "min_active_finger_to_button": 0.14559472210855737,
+            "closest_active_finger": [
+              -0.028854012489318848,
+              -0.3560667932033539,
+              0.8106805682182312
+            ],
+            "closest_active_finger_button": [
+              0.11178271472454072,
+              -0.3710672855377197,
+              0.7761245369911194
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14063672721385956,
+              0.015000492334365845,
+              0.034556031227111816
+            ],
+            "min_contact_pad_to_button": 0.021156041957220335,
+            "closest_contact_pad": [
+              0.11176501959562302,
+              -0.3721728482432486,
+              0.7912566797766376
+            ],
+            "closest_contact_pad_button": [
+              0.11176501959562302,
+              -0.3710658252239228,
+              0.7701296210289001
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011070230193258035,
+              0.02112705874773746
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ac36f433c05400f2e27ffeab38e54503f91dc3a72e9705cc9f47468163bf4db",
+    "visual_seed": 8890421860067237259,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e869018c4e110ad213b89fa766c002ac5fdc88de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30620756742496635,
+              0.08961414617453244,
+              1.0463822181836486
+            ],
+            "current_z": 1.0463822181836486,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18979571077508306,
+            "gripper_z": 1.049163624603871,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30138674274984756,
+              0.08490888039974745,
+              1.049163624603871
+            ],
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+              0.0048208246751187955,
+              0.004705265774784986,
+              -0.0027814064202222877
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+            "object_to_gripper_xy": 0.0067364587551321945,
+            "object_to_gripper_z": -0.0027814064202222877,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30620756742496635,
+              0.0653372764403206,
+              1.0463822181836486
+            ],
+            "finger_b": [
+              0.29461034344918013,
+              0.08961414617453244,
+              1.0463822181836486
+            ],
+            "finger_midpoint": [
+              0.30040895543707324,
+              0.07747571130742652,
+              1.0463822181836486
+            ],
+            "object_minus_finger_midpoint": [
+              0.00579861198789311,
+              0.012138434867105918,
+              0.0
+            ],
+            "finger_gap": 0.02690468375648451,
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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": 0.8141971778441786,
+            "object_to_finger_line_xy": 0.010464508644179237,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04914985073617588,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.037404672032177,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
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+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9804a7c4174873779b9cc8974917de1b2ee9ba01
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+                "elbow_joint",
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+                "fr3_joint1",
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+                "fr3_joint5",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                "workbench"
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+            },
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "metrics": {
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                "desk",
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+                "ground",
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+          "failure_messages": {},
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+                "/World/target_beaker"
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+                "Robotiq_2F_85",
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+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
+                "joint4",
+                "joint5",
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+                "left_inner_finger",
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+                "mobile_rotate",
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+                "ridgebase_ur16e",
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+                "rizon4",
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+                "tool_center",
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+                "ur5e",
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+                "ground",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.007041454315185547,
+            "max_z_decrease": 0.007041454315185547,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511140688003405,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007041454315185547,
+            "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": 0.021122533024030887,
+            "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": 0.007041454315185547,
+            "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": 0.007041473542836365,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11220669746398926,
+              -0.37858745455741877,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11220669746398926,
+              -0.37858745455741877,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11150093014168447,
+              -0.37684768850035744,
+              0.8074985597848435
+            ],
+            "closest_button": [
+              0.11219560354948042,
+              -0.37858489155769337,
+              0.7724370360374451
+            ],
+            "closest_ee_minus_button": [
+              -0.0006946734077959565,
+              0.0017372030573359343,
+              0.03506152374739846
+            ],
+            "button_min_z_position": [
+              0.11219024658203124,
+              -0.3785878419876098,
+              0.7697674036026001
+            ],
+            "min_active_finger_to_button": 0.14607180693000776,
+            "closest_active_finger": [
+              -0.014871202409267426,
+              -0.4417991042137146,
+              0.8109304308891296
+            ],
+            "closest_active_finger_button": [
+              0.11220879852771758,
+              -0.37858891487121576,
+              0.7764033675193787
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12708000093698502,
+              -0.06321018934249883,
+              0.03452706336975098
+            ],
+            "min_contact_pad_to_button": 0.021122533024030887,
+            "closest_contact_pad": [
+              0.11219024658203124,
+              -0.3785878419876098,
+              0.790889936626631
+            ],
+            "closest_contact_pad_button": [
+              0.11219024658203124,
+              -0.3785878419876098,
+              0.7697674036026001
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021122533024030887
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "498adc731384d361b5c584e7a1c08d5ae5ca7aef3993f3a2ce1c47280256f6f3",
+    "visual_seed": 2670227346019605240,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..403510087a7e118b6c841221ebf7569a34cda696
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3132895827895046,
+              0.09024107470138006,
+              1.045614449799464
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+            "lift_margin": 0.18902782318160882,
+            "gripper_z": 1.0481044585771715,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3082727885745724,
+              0.08538540712706534,
+              1.0481044585771715
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+              0.005016794214932174,
+              0.004855667574314715,
+              -0.002490008777707553
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+            "object_to_gripper_z": -0.002490008777707553,
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+              0.3132895827895046,
+              0.06591700908011522,
+              1.045614449799464
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+              0.09024107470138006,
+              1.045614449799464
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+            "finger_midpoint": [
+              0.3073212194573391,
+              0.07807904189074763,
+              1.045614449799464
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+              0.005968363332165494,
+              0.012162032810632425,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08781139773440898,
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+              0.09216920620855483,
+              1.2384431447577946
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0074134510392785844,
+            "max_held_gripper_dist": 0.007415094747779295,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002617220692161748,
+            "max_held_gripper_z_dist": 0.0026260596242573264,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08628774947398556,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.06665384750227707,
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+              0.07941152685541594,
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+            "held_grasp_object_position": [
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+              0.09216920620855483,
+              1.2384431447577946
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+            "held_grasp_finger_gap": 0.02725722002435077,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02461561957162887,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9962266617674943,
+              0.022576077632743826
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003719353139087406,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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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",
+                "floor",
+                "ground",
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+              ],
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+            },
+            "status": "active",
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26230460211014395,
+              -0.31274077863637295,
+              0.8470197522553136
+            ],
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+              0.25617216594243536,
+              -0.3144230862816125,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006359004038703839,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18678041701637585,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197522553136,
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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",
+            "release_finger_gap": 0.07513049699620862,
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+            "release_fingertip_min_gap": 0.0866830061267138,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15619965480863507,
+            "release_required_pad_clearance": 0.0533415030633569,
+            "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": 1.6999161832211471,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006588876247406006,
+            "max_z_decrease": 0.006588876247406006,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035100739939593374,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006588876247406006,
+            "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": 0.021197854325482015,
+            "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": 0.006588876247406006,
+            "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": 0.006588895204262159,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11187209188938142,
+              -0.3706845343112945,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11187209188938142,
+              -0.3706845343112945,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11278391896620107,
+              -0.3712387334322128,
+              0.8080008558331471
+            ],
+            "closest_button": [
+              0.1118609830737114,
+              -0.3706853985786438,
+              0.7729166150093079
+            ],
+            "closest_ee_minus_button": [
+              0.0009229358924896791,
+              -0.0005533348535690097,
+              0.03508424082383921
+            ],
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+              0.11185630410909653,
+              -0.37068527936935425,
+              0.7702199816703796
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+            "min_active_finger_to_button": 0.14526050956854322,
+            "closest_active_finger": [
+              -0.028174757957458496,
+              -0.35340359807014465,
+              0.8112886548042297
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+              0.11187183111906053,
+              -0.3706868886947632,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.140046589076519,
+              0.01728329062461853,
+              0.03447979688644409
+            ],
+            "min_contact_pad_to_button": 0.021197854325482015,
+            "closest_contact_pad": [
+              0.11185630410909653,
+              -0.37254317926290226,
+              0.7913362606037029
+            ],
+            "closest_contact_pad_button": [
+              0.11185630410909653,
+              -0.37068527936935425,
+              0.7702199816703796
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018578998935480096,
+              0.02111627893332324
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fdc3458ab62967864c775c57e48797782c2b6dff1b8a35a29fba1fcb5c9f4c1d",
+    "visual_seed": 8891192787270550204,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..953bc6298bdf89694d9334b9ab4a09143f601235
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.09302730655289171,
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+            "gripper_z": 1.0483325031085078,
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+            "object_to_gripper_z": -0.0025701292248883068,
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+              0.06863107884113133,
+              1.0457623738836195
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+            "finger_b": [
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+            "finger_midpoint": [
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+              0.08082919269701153,
+              1.0457623738836195
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+              0.012198113855880183,
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+            "fingertip_z_skew_max": 0.035,
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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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+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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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",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce5d220970932b2125a2cb680d6f481f82a24dcae634610bf75eed9a49af9429",
+    "visual_seed": 2671185699620394908,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b4ef29844ffe5e5ce5e7cdb310562340a8638f8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.08653860080043418,
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+              0.3067927656516797,
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+              0.07443891755212545,
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+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15329935950696383,
+            "release_required_pad_clearance": 0.05284901310161194,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7401883256623412,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006947875022888184,
+            "max_z_decrease": 0.006947875022888184,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507438801062271,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006947875022888184,
+            "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": 0.021142147602024427,
+            "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": 0.006947875022888184,
+            "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": 0.0069478965894727,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1127718016505241,
+              -0.376486837863922,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1127718016505241,
+              -0.376486837863922,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11294253933289536,
+              -0.37640578183300694,
+              0.8076779356198222
+            ],
+            "closest_button": [
+              0.1127611473202705,
+              -0.37648576498031605,
+              0.7726041078567505
+            ],
+            "closest_ee_minus_button": [
+              0.00018139201262486193,
+              7.998314730911504e-05,
+              0.03507382776307166
+            ],
+            "button_min_z_position": [
+              0.11275449395179744,
+              -0.3764871954917907,
+              0.7698609828948975
+            ],
+            "min_active_finger_to_button": 0.14602476724027527,
+            "closest_active_finger": [
+              -0.014496728777885437,
+              -0.4392445683479309,
+              0.810922384262085
+            ],
+            "closest_active_finger_button": [
+              0.11277288943529125,
+              -0.3764882683753966,
+              0.7764648199081421
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12726961821317667,
+              -0.06275629997253429,
+              0.03445756435394287
+            ],
+            "min_contact_pad_to_button": 0.021142147602024427,
+            "closest_contact_pad": [
+              0.11275449395179744,
+              -0.37753850072148687,
+              0.7909769759461324
+            ],
+            "closest_contact_pad_button": [
+              0.11275449395179744,
+              -0.3764871954917907,
+              0.7698609828948975
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010513052296961534,
+              0.021115993051234905
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb28833c81794cd4879cc30d9cf4e7826cbf0580c6ef49ecc99a45b653c540cb",
+    "visual_seed": 7173474281643011095,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d296f51560588cc73ff5d52127a80b481187e76
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3052907924037305,
+              0.09205026785698253,
+              1.0471571475389352
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+            "current_z": 1.0471571475389352,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19057064013036962,
+            "gripper_z": 1.0499468581120792,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30025349827242775,
+              0.0872403384346063,
+              1.0499468581120792
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+              0.005037294131302772,
+              0.004809929422376236,
+              -0.002789710573144033
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+            "object_to_gripper_xy": 0.006964894343311888,
+            "object_to_gripper_z": -0.002789710573144033,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3052907924037305,
+              0.06760538677005769,
+              1.0471571475389352
+            ],
+            "finger_b": [
+              0.2935600239161207,
+              0.09205026785698253,
+              1.0471571475389352
+            ],
+            "finger_midpoint": [
+              0.2994254081599256,
+              0.07982782731352012,
+              1.0471571475389352
+            ],
+            "object_minus_finger_midpoint": [
+              0.00586538424380495,
+              0.012222440543462415,
+              0.0
+            ],
+            "finger_gap": 0.027113892023532808,
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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": 1.0932925368845372,
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+            "object_projection_between_fingers": 0.8128157932596458,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841374533974917,
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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": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3053575134823191,
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+          "failed_keys": [],
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+              ],
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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": {
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26960238577939855,
+              -0.31373227105077206,
+              0.8470194772331012
+            ],
+            "target_position": [
+              0.2624125424008695,
+              -0.31618133195097636,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007595508350379705,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18576331366248708,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194772331012,
+            "min_z": 0.5730800627579278,
+            "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": 0.07527463902064924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857801486374447,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15490814715003767,
+            "release_required_pad_clearance": 0.05289007431872235,
+            "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": 0.8204324518497633,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00691068172454834,
+            "max_z_decrease": 0.00691068172454834,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035104924573689786,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00691068172454834,
+            "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": 0.021125111451485594,
+            "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": 0.00691068172454834,
+            "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": 0.00691070355410469,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11811246722936629,
+              -0.3724427819252014,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11811246722936629,
+              -0.3724427819252014,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11644795580835854,
+              -0.3727913921538322,
+              0.8068393386692223
+            ],
+            "closest_button": [
+              0.11809833347797394,
+              -0.37243834137916565,
+              0.7717750072479248
+            ],
+            "closest_ee_minus_button": [
+              -0.0016503776696153993,
+              -0.00035305077466657453,
+              0.0350643314212975
+            ],
+            "button_min_z_position": [
+              0.11809514462947845,
+              -0.37244150042533875,
+              0.7698981761932373
+            ],
+            "min_active_finger_to_button": 0.14763486038252352,
+            "closest_active_finger": [
+              -0.024628594517707825,
+              -0.3573170006275177,
+              0.8109524846076965
+            ],
+            "closest_active_finger_button": [
+              0.11811366677284241,
+              -0.37244486808776855,
+              0.7764293551445007
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14274226129055023,
+              0.015127867460250854,
+              0.0345231294631958
+            ],
+            "min_contact_pad_to_button": 0.021125111451485594,
+            "closest_contact_pad": [
+              0.11809514462947845,
+              -0.3739216922268648,
+              0.7909713668882503
+            ],
+            "closest_contact_pad_button": [
+              0.11809514462947845,
+              -0.37244150042533875,
+              0.7698981761932373
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014801918015260318,
+              0.02107319069501301
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44b06d82a39d6fe0811e1e3a49780858a5fab96eae5e5dc7941748c9e8e22214",
+    "visual_seed": 5925224287950648408,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7168c830952d863f8fdcef4168887a1de4cf4d61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+            "object_to_gripper_z": -0.002778136060092695,
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+              0.0,
+              1.0
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+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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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,
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+            "last_frame": {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.09735537988150263,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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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": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "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": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_min_pad_clearance": 0.15429551275337383,
+            "release_required_pad_clearance": 0.053261756525450635,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.5415111860758979,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
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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": {
+            "target": "heat_button",
+            "z_decrease": 0.006817996501922607,
+            "max_z_decrease": 0.006817996501922607,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509055339301116,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006817996501922607,
+            "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": 0.021116253500717087,
+            "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": 0.006817996501922607,
+            "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": 0.006818018797127529,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11751016229391098,
+              -0.3783005475997925,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11751016229391098,
+              -0.3783005475997925,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11735854874250634,
+              -0.3777444712934163,
+              0.8079948433691663
+            ],
+            "closest_button": [
+              0.11749939620494844,
+              -0.3783009648323059,
+              0.7729089856147766
+            ],
+            "closest_ee_minus_button": [
+              -0.000140847462442098,
+              0.0005564935388895909,
+              0.03508585775438966
+            ],
+            "button_min_z_position": [
+              0.11749273538589478,
+              -0.3782999813556671,
+              0.769990861415863
+            ],
+            "min_active_finger_to_button": 0.14608850057415593,
+            "closest_active_finger": [
+              -0.010263465344905853,
+              -0.4402085244655609,
+              0.811193585395813
+            ],
+            "closest_active_finger_button": [
+              0.11751160025596619,
+              -0.3783014416694641,
+              0.7768003344535828
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12777506560087204,
+              -0.0619070827960968,
+              0.034393250942230225
+            ],
+            "min_contact_pad_to_button": 0.021116253500717087,
+            "closest_contact_pad": [
+              0.11749273538589478,
+              -0.37895345026841293,
+              0.7910970012876307
+            ],
+            "closest_contact_pad_button": [
+              0.11749273538589478,
+              -0.3782999813556671,
+              0.769990861415863
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006534689127458138,
+              0.021106139871767682
+            ]
+          },
+          "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": 5125611169601523735,
+    "physical_seed": 7839386756231552205,
+    "layout_id": "layout_00011",
+    "step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "workflow_spec_digest": "60b0cdbc8a13e95309f68f145974e197821f963435977a1149d336cf45f29e3b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c5b763ae8bc334c81219fb8edce8b941f4977eb523f09a8db0ecaf1497cb5d42",
+    "visual_seed": 4253562055393264649,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      833302438968261441,
+      2635298924869554144,
+      5370397393835884011,
+      2609782213990237604
+    ],
+    "runtime_workflow_digest": "3b5b4f2e3a47e10dbc284fb16e241036445d99583a5b3fc55eeed25e3ea3df7c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a9022e83ad7322028b576b3cd1a5ddd40854a9f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30637860499870845,
+              0.0898387819061831,
+              1.0444616094213919
+            ],
+            "current_z": 1.0444616094213919,
+            "required_z": 0.8565865074085656,
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+            "lift_margin": 0.1878751020128263,
+            "gripper_z": 1.0478007714175863,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3009029705964486,
+              0.08492040039708794,
+              1.0478007714175863
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+              0.0054756344022598435,
+              0.004918381509095154,
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+            "object_to_gripper_xy": 0.007360234288133812,
+            "object_to_gripper_z": -0.0033391619961944397,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30637860499870845,
+              0.0649085816606154,
+              1.0444616094213919
+            ],
+            "finger_b": [
+              0.29473210804559535,
+              0.0898387819061831,
+              1.0444616094213919
+            ],
+            "finger_midpoint": [
+              0.30055535652215193,
+              0.07737368178339925,
+              1.0444616094213919
+            ],
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+              0.0058232484765565196,
+              0.012465100122783845,
+              0.0
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+            "finger_gap": 0.02751646371834462,
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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_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04909055832098476,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.977067125451483,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.08852864520244337,
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+              0.09317758874330857,
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008082935724057033,
+            "max_held_gripper_dist": 0.00808943140389339,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003464959065023532,
+            "max_held_gripper_z_dist": 0.00347642261710579,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08696409595136417,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.06767064264108834,
+              1.2335177723413688
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+              0.08042411569219846,
+              1.2335177723413688
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+            "held_grasp_object_position": [
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+              0.09317758874330857,
+              1.2335177723413688
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025399911491308536,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9999110874125284,
+              0.008635631751652939
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005026763981249919,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+}
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3348075a90b9cf43cdd4ca9b4f818105101a3cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_hte_00012
+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 b from home. Shake the current contents of
+    beaker b once. Place beaker b on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00012
+  reproducibility:
+    enabled: true
+    layout_id: layout_00012
+    action_seed: 7341333033982970114
+    step_seeds:
+    - 3829379865525735683
+    - 1742170454347048747
+    - 3967963344366819069
+    - 136424949974134018
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3045
+      - 0.3045
+      'y':
+      - -0.1429
+      - -0.1429
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3445
+      - 0.3445
+      'y':
+      - 0.2895
+      - 0.2895
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3122
+      - 0.3122
+      'y':
+      - 0.1138
+      - 0.1138
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2024
+      - 0.2024
+      'y':
+      - -0.3843
+      - -0.3843
+      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_b
+    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: 0.3
+      gripper_distances: 0.019
+      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
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - 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_s04_pslr_hte_00012
+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_s04_pslr_hte_00012/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a2997d6c8054ec45cd37fec149c22f7609c152f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_0_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.37117996647422785,
+              0.29497259122385905,
+              1.0489191943162572
+            ],
+            "current_z": 1.0489191943162572,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19233274651233645,
+            "gripper_z": 1.0472042491687132,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3656246497912401,
+              0.28975856734314853,
+              1.0472042491687132
+            ],
+            "object_minus_gripper": [
+              0.005555316682987754,
+              0.005214023880710517,
+              0.0017149451475440003
+            ],
+            "object_to_gripper_xy": 0.007618896801827783,
+            "object_to_gripper_z": 0.0017149451475440003,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37117996647422785,
+              0.2703211131051782,
+              1.0489191943162572
+            ],
+            "finger_b": [
+              0.35865797990742865,
+              0.29497259122385905,
+              1.0489191943162572
+            ],
+            "finger_midpoint": [
+              0.3649189731908282,
+              0.2826468521645186,
+              1.0489191943162572
+            ],
+            "object_minus_finger_midpoint": [
+              0.00626099328339963,
+              0.012325739059340424,
+              0.0
+            ],
+            "finger_gap": 0.027649512129780885,
+            "fingertip_max_gap": 0.0907923152726545,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013824756064890455,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489191943162572,
+            "object_top_z": 1.094422313107596,
+            "finger_top_clearance": 0.04550311879133884,
+            "fingertip_min_top_clearance": 0.013650935637401617,
+            "object_projection_between_fingers": 0.7948972318752884,
+            "object_to_finger_line_xy": 0.01116422873593436,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789615763632725,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3972332347272598,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37209915032732704,
+              0.2925631841768932,
+              1.237275650395678
+            ],
+            "held_position": [
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+              0.29721271281935224,
+              1.2388659685897503
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007810662812074879,
+            "max_held_gripper_dist": 0.007812643822874353,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015903181940721822,
+            "max_held_gripper_z_dist": 0.0017251092590773176,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0895956622236048,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3781703301968817,
+              0.2712598037406206,
+              1.2388659685897503
+            ],
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+              0.29721271281935224,
+              1.2388659685897503
+            ],
+            "held_grasp_midpoint": [
+              0.3731457045536074,
+              0.28423625827998644,
+              1.2388659685897503
+            ],
+            "held_grasp_object_position": [
+              0.3781703301968817,
+              0.29721271281935224,
+              1.2388659685897503
+            ],
+            "held_grasp_finger_gap": 0.027830575651055234,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024741950397207408,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.105719113262796,
+              -0.9942757574457395,
+              0.015465679636827653
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003630388618520937,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03176685183223815,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26493465579339665,
+              -0.3785126454132909,
+              0.8470193870722154
+            ],
+            "target_position": [
+              0.25598981078534916,
+              -0.382353172506396,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009734469711846994,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862902483571579,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193870722154,
+            "min_z": 0.5730800627579278,
+            "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": 0.07590153661580203,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08532071099523116,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15420592442163283,
+            "release_required_pad_clearance": 0.05266035549761558,
+            "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": 0.3774221211618183,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008043885231018066,
+            "max_z_decrease": 0.008043885231018066,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507408946186474,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008043885231018066,
+            "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": 0.02109118778822101,
+            "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": 0.008043885231018066,
+            "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": 0.008043891081784289,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11168973892927167,
+              -0.4386146366596222,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11168973892927167,
+              -0.4386146366596222,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11205569188910972,
+              -0.43885598672194376,
+              0.8080893016606197
+            ],
+            "closest_button": [
+              0.11169468611478803,
+              -0.4386085569858551,
+              0.773017942905426
+            ],
+            "closest_ee_minus_button": [
+              0.0003610057743216877,
+              -0.0002474297360886557,
+              0.03507135875519363
+            ],
+            "button_min_z_position": [
+              0.11168570071458814,
+              -0.43860581517219543,
+              0.7687649726867676
+            ],
+            "min_active_finger_to_button": 0.14591197640277723,
+            "closest_active_finger": [
+              -0.02943364530801773,
+              -0.42536023259162903,
+              0.8109716773033142
+            ],
+            "closest_active_finger_button": [
+              0.11169216781854628,
+              -0.4386121332645416,
+              0.7763566970825195
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14112581312656403,
+              0.013251900672912598,
+              0.03461498022079468
+            ],
+            "min_contact_pad_to_button": 0.02109118778822101,
+            "closest_contact_pad": [
+              0.11168570071458814,
+              -0.43962075450894006,
+              0.789831726125794
+            ],
+            "closest_contact_pad_button": [
+              0.11168570071458814,
+              -0.43860581517219543,
+              0.7687649726867676
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010149393367446247,
+              0.02106675343902642
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e138a81701cde69e21289ce38468822622807eaab54717967d676f4f26ae2ef9",
+    "visual_seed": 7479193112587826654,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6f6b4da754ce46c0adf5028ec508ff93337209c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_100_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3712719859642689,
+              0.2933380616415341,
+              1.049044943015963
+            ],
+            "current_z": 1.049044943015963,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19245837600275262,
+            "gripper_z": 1.047640575958223,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36568691903526884,
+              0.2881407629150413,
+              1.047640575958223
+            ],
+            "object_minus_gripper": [
+              0.005585066929000071,
+              0.005197298726492772,
+              0.0014043670577399414
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+            "object_to_gripper_xy": 0.0076292127152029045,
+            "object_to_gripper_z": 0.0014043670577399414,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3712719859642689,
+              0.2687102927200131,
+              1.049044943015963
+            ],
+            "finger_b": [
+              0.3586986864999786,
+              0.2933380616415341,
+              1.049044943015963
+            ],
+            "finger_midpoint": [
+              0.36498533623212376,
+              0.2810241771807736,
+              1.049044943015963
+            ],
+            "object_minus_finger_midpoint": [
+              0.006286649732145155,
+              0.012313884460760482,
+              0.0
+            ],
+            "finger_gap": 0.027651670138900415,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013825835069450208,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049044943015963,
+            "object_top_z": 1.0952970110693165,
+            "finger_top_clearance": 0.04625206805335358,
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+            "object_projection_between_fingers": 0.7932451128210113,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855822089562699,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7969220488894937,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2628110990156738,
+              -0.3836122244015408,
+              0.8470192689503449
+            ],
+            "target_position": [
+              0.25510971927151377,
+              -0.38579423195086654,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008004524152569768,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1882215304199175,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192689503449,
+            "min_z": 0.5730800627579278,
+            "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": 0.0753621774260974,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596501693050952,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15693493446939374,
+            "release_required_pad_clearance": 0.05298250846525476,
+            "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": 0.9977858842070848,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008060693740844727,
+            "max_z_decrease": 0.008060693740844727,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035152687196988414,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008060693740844727,
+            "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": 0.02105500470366084,
+            "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": 0.008060693740844727,
+            "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": 0.008060706572379273,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11080964654684065,
+              -0.4420557022094727,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11080964654684065,
+              -0.4420557022094727,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11233471637887074,
+              -0.4403707636557338,
+              0.8073934244532549
+            ],
+            "closest_button": [
+              0.11079899221658707,
+              -0.4420491755008698,
+              0.7723144292831421
+            ],
+            "closest_ee_minus_button": [
+              0.0015357241622836748,
+              0.0016784118451360075,
+              0.035078995170112814
+            ],
+            "button_min_z_position": [
+              0.11080125719308853,
+              -0.44204401969909674,
+              0.7687481641769409
+            ],
+            "min_active_finger_to_button": 0.1441646449724472,
+            "closest_active_finger": [
+              -0.014105759561061859,
+              -0.5051923990249634,
+              0.8102779984474182
+            ],
+            "closest_active_finger_button": [
+              0.11081327497959137,
+              -0.44205170869827276,
+              0.7757536172866821
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12491903454065323,
+              -0.06314069032669062,
+              0.034524381160736084
+            ],
+            "min_contact_pad_to_button": 0.02105500470366084,
+            "closest_contact_pad": [
+              0.11080125719308853,
+              -0.44204401969909674,
+              0.7898031688806018
+            ],
+            "closest_contact_pad_button": [
+              0.11080125719308853,
+              -0.44204401969909674,
+              0.7687481641769409
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105500470366084
+            ]
+          },
+          "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": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bc724d962b51951ddcad8434711ebc9badc3c9d1ad80fa2226d1efab408f738d",
+    "visual_seed": 7662568880557412625,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b145d9446e96bd6abf7c132dba8260b3d0535ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.00522837295751144,
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+              0.2861614677798663,
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+              0.012526363895482007,
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+              0.0,
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+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+                "beaker_b"
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+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.30212991085681223,
+              1.2379471908073607
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+            "held_shake_count": 5,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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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+            "target": "heater_platform",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15454581489385938,
+            "release_required_pad_clearance": 0.05352681543877752,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.064606818959723,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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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+              "ignored": [],
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+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
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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": {
+            "target": "heat_button",
+            "z_decrease": 0.008182644844055176,
+            "max_z_decrease": 0.008182644844055176,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503144756080109,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008182644844055176,
+            "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": 0.02109507402060441,
+            "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": 0.008182644844055176,
+            "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": 0.008182720764521312,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11608796566724774,
+              -0.4445933401584625,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11608796566724774,
+              -0.4445933401584625,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11471520875764932,
+              -0.44606595072274063,
+              0.8035977341943193
+            ],
+            "closest_button": [
+              0.11611512303352353,
+              -0.4445708692073822,
+              0.7686262130737305
+            ],
+            "closest_ee_minus_button": [
+              -0.0013999142758742145,
+              -0.0014950815153584318,
+              0.03497152112058888
+            ],
+            "button_min_z_position": [
+              0.11611512303352353,
+              -0.4445708692073822,
+              0.7686262130737305
+            ],
+            "min_active_finger_to_button": 0.147002821189836,
+            "closest_active_finger": [
+              -0.025937967002391815,
+              -0.4287833869457245,
+              0.8105405569076538
+            ],
+            "closest_active_finger_button": [
+              0.11608683317899703,
+              -0.444592535495758,
+              0.7760607600212097
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14202480018138885,
+              0.015809148550033514,
+              0.03447979688644409
+            ],
+            "min_contact_pad_to_button": 0.02109507402060441,
+            "closest_contact_pad": [
+              0.11611512303352353,
+              -0.44735684777167656,
+              0.789536508895982
+            ],
+            "closest_contact_pad_button": [
+              0.11611512303352353,
+              -0.4445708692073822,
+              0.7686262130737305
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027859785642943558,
+              0.020910295822251568
+            ]
+          },
+          "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": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f36664e60121da7e66c1a222c4a9a1a8f6da49c5b76ec0283a13c09586b0d8f5",
+    "visual_seed": 6279573687472831949,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..652ee3a88d65bbb0f511d4a00e15221890e012db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36542248619859574,
+              0.2953981338583408,
+              1.0490726847010499
+            ],
+            "current_z": 1.0490726847010499,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.1924861176878394,
+            "gripper_z": 1.0487029058868311,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.359402843715933,
+              0.29007644893833423,
+              1.0487029058868311
+            ],
+            "object_minus_gripper": [
+              0.006019642482662735,
+              0.005321684920006564,
+              0.00036977881421873526
+            ],
+            "object_to_gripper_xy": 0.008034701363890461,
+            "object_to_gripper_z": 0.00036977881421873526,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36542248619859574,
+              0.2703218158047779,
+              1.0490726847010499
+            ],
+            "finger_b": [
+              0.3528666776569147,
+              0.2953981338583408,
+              1.0490726847010499
+            ],
+            "finger_midpoint": [
+              0.3591445819277552,
+              0.28285997483155934,
+              1.0490726847010499
+            ],
+            "object_minus_finger_midpoint": [
+              0.0062779042708405175,
+              0.012538159026781459,
+              0.0
+            ],
+            "finger_gap": 0.02804407344268653,
+            "fingertip_max_gap": 0.09281552239934801,
+            "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": 1.0490726847010499,
+            "object_top_z": 1.0951166208547853,
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+            "fingertip_min_top_clearance": 0.013813180846120642,
+            "object_projection_between_fingers": 0.799549484330367,
+            "object_to_finger_line_xy": 0.011227093990261412,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04890776119967401,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3851193883654587,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36555410513465647,
+              0.29347907395530914,
+              1.237438245725737
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+            "held_position": [
+              0.371961457702461,
+              0.298334023128171,
+              1.2376837432346264
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008042696527042016,
+            "max_held_gripper_dist": 0.008044060989467429,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00024549750888946953,
+            "max_held_gripper_z_dist": 0.00037948194900216947,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0895307065492345,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.371961457702461,
+              0.2723463998510363,
+              1.2376837432346264
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+            "held_grasp_finger_b": [
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+              0.298334023128171,
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+            "held_grasp_midpoint": [
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+              0.28534021148960365,
+              1.2376837432346264
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+            "held_grasp_object_position": [
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+              0.298334023128171,
+              1.2376837432346264
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+            "held_grasp_finger_gap": 0.028087128449992678,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025380742604262953,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05307801988341149,
+              -0.9984095739842853,
+              0.01900122053379649
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0046370535518359774,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03194430438295413,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                "link0",
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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": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2593283257401245,
+              -0.37947670216520063,
+              0.8470195004428327
+            ],
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+              0.252521105038716,
+              -0.381650648192418,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007145928561561367,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1872467991815544,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195004428327,
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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,
+            "release_min_pad_clearance": 0.15598078283706612,
+            "release_required_pad_clearance": 0.05301726357469437,
+            "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": 1.0667838971922265,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007899999618530273,
+            "max_z_decrease": 0.007899999618530273,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510153050930928,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007899999618530273,
+            "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": 0.021221275309783922,
+            "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": 0.007899999618530273,
+            "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": 0.007900023662833797,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10822103172540663,
+              -0.43791210651397694,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10822103172540663,
+              -0.43791210651397694,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10800034156646757,
+              -0.4394635533939951,
+              0.8073327838913492
+            ],
+            "closest_button": [
+              0.10821138322353362,
+              -0.4379063248634337,
+              0.7722664475440979
+            ],
+            "closest_ee_minus_button": [
+              -0.0002110416570660495,
+              -0.0015572285305613942,
+              0.035066336347251315
+            ],
+            "button_min_z_position": [
+              0.10820246487855908,
+              -0.4379061758518218,
+              0.7689088582992554
+            ],
+            "min_active_finger_to_button": 0.1462723430948307,
+            "closest_active_finger": [
+              -0.03325936198234558,
+              -0.4244757294654846,
+              0.8110404014587402
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+            "closest_active_finger_button": [
+              0.10822356492280957,
+              -0.4379096329212188,
+              0.776432454586029
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14148292690515515,
+              0.013433903455734197,
+              0.03460794687271118
+            ],
+            "min_contact_pad_to_button": 0.021221275309783922,
+            "closest_contact_pad": [
+              0.10820246487855908,
+              -0.4404648604657026,
+              0.7899753164453305
+            ],
+            "closest_contact_pad_button": [
+              0.10820246487855908,
+              -0.4379061758518218,
+              0.7689088582992554
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002558684613880813,
+              0.021066458146075107
+            ]
+          },
+          "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": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29cda2fdb987e3ae151f4e3ccccbe2d732b1b0623484801a84139d90c05e76a9",
+    "visual_seed": 7897506366167328045,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c09f6f8fd6dcacfd4466d49287f73347c03cfdb6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_108_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.2902953775226637,
+              1.0476508413021979
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+            "gripper_z": 1.0480155535773312,
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+            "gripper_position": [
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+              0.2850079838290929,
+              1.0480155535773312
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+              0.0052873936935707855,
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+            "object_to_gripper_z": -0.0003647122751333498,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3678981128851125,
+              0.26528056459141636,
+              1.0476508413021979
+            ],
+            "finger_b": [
+              0.3554459998719902,
+              0.2902953775226637,
+              1.0476508413021979
+            ],
+            "finger_midpoint": [
+              0.3616720563785514,
+              0.27778797105704,
+              1.0476508413021979
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+            "object_minus_finger_midpoint": [
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+              0.012507406465623705,
+              0.0
+            ],
+            "finger_gap": 0.027942726861866378,
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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_to_finger_line_xy": 0.011147347184898139,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04814911697642034,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3107796097987754,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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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": [],
+              "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": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4673f438d8ad67c07726ce80ab4bf4b16d496a39a47e0a370595b5d5458f41a2",
+    "visual_seed": 5162243143289146497,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6092d2e81837005f0d27bd5c772c18bc49be00ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_109_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2898649191771355,
+              1.048826571628723
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+            "gripper_z": 1.0483057710478436,
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+              0.2845840853180581,
+              1.0483057710478436
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+              0.005280833859077405,
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+              0.2648310537216724,
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+              0.27734798644940395,
+              1.048826571628723
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
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+                "b_name": "inspection_platform"
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2883241002290705,
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+            "max_held_gripper_dist": 0.007964341601825008,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025397635668352563,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+              -0.9990484816359178,
+              0.01456015785721598
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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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": [],
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08676536084547672,
+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.15429264493388584,
+            "release_required_pad_clearance": 0.05338268042273836,
+            "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": 1.780868157247207,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007948875427246094,
+            "max_z_decrease": 0.007948875427246094,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035141556678331895,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007948875427246094,
+            "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": 0.02108715146087692,
+            "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": 0.007948875427246094,
+            "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": 0.007948903822603333,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10873397439718244,
+              -0.4407026171684265,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10873397439718244,
+              -0.4407026171684265,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11047821070871727,
+              -0.4395567653712343,
+              0.8075673574720499
+            ],
+            "closest_button": [
+              0.108723908662796,
+              -0.44069620966911316,
+              0.7724881172180176
+            ],
+            "closest_ee_minus_button": [
+              0.001754302045921266,
+              0.0011394442978788777,
+              0.03507924025403231
+            ],
+            "button_min_z_position": [
+              0.10871345549821854,
+              -0.4406971037387848,
+              0.7688599824905396
+            ],
+            "min_active_finger_to_button": 0.14421460096787594,
+            "closest_active_finger": [
+              -0.016269728541374207,
+              -0.5037847757339478,
+              0.810970664024353
+            ],
+            "closest_active_finger_button": [
+              0.10873655974864957,
+              -0.44069948792457575,
+              0.7764521837234497
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12500628829002378,
+              -0.063085287809372,
+              0.03451848030090332
+            ],
+            "min_contact_pad_to_button": 0.02108715146087692,
+            "closest_contact_pad": [
+              0.10871345549821854,
+              -0.4406971037387848,
+              0.7899471339514165
+            ],
+            "closest_contact_pad_button": [
+              0.10871345549821854,
+              -0.4406971037387848,
+              0.7688599824905396
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108715146087692
+            ]
+          },
+          "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": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df28c63e532a500ce9f34c05ff1f84437061d6dcb87b9322bd67772b9458f1a2",
+    "visual_seed": 4231777017968289678,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc1dc08f36d4d82db5ffe9e2810b25d7181cbf1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.36929044964348984,
+              0.2901929691697259,
+              1.047359854739679
+            ],
+            "current_z": 1.047359854739679,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19077322812182385,
+            "gripper_z": 1.0472176452443978,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36330336359631776,
+              0.28493967219496374,
+              1.0472176452443978
+            ],
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+              0.005987086047172074,
+              0.005253296974762178,
+              0.00014220949528120919
+            ],
+            "object_to_gripper_xy": 0.007965069267827366,
+            "object_to_gripper_z": 0.00014220949528120919,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36929044964348984,
+              0.265069678757674,
+              1.047359854739679
+            ],
+            "finger_b": [
+              0.35693256255261546,
+              0.2901929691697259,
+              1.047359854739679
+            ],
+            "finger_midpoint": [
+              0.36311150609805265,
+              0.27763132396369994,
+              1.047359854739679
+            ],
+            "object_minus_finger_midpoint": [
+              0.006178943545437188,
+              0.012561645206025984,
+              0.0
+            ],
+            "finger_gap": 0.02799816234110909,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013999081170554569,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047359854739679,
+            "object_top_z": 1.0928544452300053,
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+            "fingertip_min_top_clearance": 0.013648377147097867,
+            "object_projection_between_fingers": 0.8051818606978248,
+            "object_to_finger_line_xy": 0.011088970143141369,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048565322344688674,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4297150959646745,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_z_skew_max": 0.08,
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+              -0.9993811040803319,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2651484269226117,
+              -0.3852545129345345,
+              0.8470196536994596
+            ],
+            "target_position": [
+              0.2565266366280875,
+              -0.388404904735353,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009179337469633422,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18761663378008525,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196536994596,
+            "min_z": 0.5730800627579278,
+            "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": 0.0751429356383587,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496576395024262,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15722653248177654,
+            "release_required_pad_clearance": 0.05248288197512131,
+            "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": 0.03956367554784945,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008143842220306396,
+            "max_z_decrease": 0.008143842220306396,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035033379383585334,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008143842220306396,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020952185938885207,
+            "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": 0.008143842220306396,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008143902541874304,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11222656071186068,
+              -0.4446663558483124,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11222656071186068,
+              -0.4446663558483124,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11304763147880256,
+              -0.443505725930354,
+              0.8036707910310186
+            ],
+            "closest_button": [
+              0.11224666237831118,
+              -0.44464230537414556,
+              0.7686650156974792
+            ],
+            "closest_ee_minus_button": [
+              0.0008009691004913777,
+              0.0011365794437915855,
+              0.035005775333539324
+            ],
+            "button_min_z_position": [
+              0.11224666237831118,
+              -0.44464230537414556,
+              0.7686650156974792
+            ],
+            "min_active_finger_to_button": 0.14472864109126,
+            "closest_active_finger": [
+              -0.013955384492874146,
+              -0.5066055655479431,
+              0.8106386065483093
+            ],
+            "closest_active_finger_button": [
+              0.11222667992115024,
+              -0.4446648061275483,
+              0.776174008846283
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12618206441402438,
+              -0.06194075942039484,
+              0.03446459770202637
+            ],
+            "min_contact_pad_to_button": 0.020952185938885207,
+            "closest_contact_pad": [
+              0.11224666237831118,
+              -0.44468328823392245,
+              0.7896171615547136
+            ],
+            "closest_contact_pad_button": [
+              0.11224666237831118,
+              -0.44464230537414556,
+              0.7686650156974792
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -4.098285977688354e-05,
+              0.020952145857234372
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "175869d698c3f023f140e07b930867ab5192507b3ea4e62cf6dedec1d570300a",
+    "visual_seed": 9108679600605778847,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..09b842f865747b5519d69b4ebeba0cb3e77c8475
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_110_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+          "failure_messages": {},
+          "safety": {
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
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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"
+              ],
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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",
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+                "wheel",
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+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
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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": {
+            "target": "heat_button",
+            "z_decrease": 0.008124709129333496,
+            "max_z_decrease": 0.008124709129333496,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501300370182041,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008124709129333496,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021031369151230946,
+            "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": 0.008124709129333496,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008124760198650507,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1144605651497841,
+              -0.4423881471157074,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1144605651497841,
+              -0.4423881471157074,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11380030371951971,
+              -0.4431655711789639,
+              0.8036814464402963
+            ],
+            "closest_button": [
+              0.11448147147893906,
+              -0.4423683285713196,
+              0.7686841487884521
+            ],
+            "closest_ee_minus_button": [
+              -0.0006811677594193433,
+              -0.0007972426076442996,
+              0.03499729765184412
+            ],
+            "button_min_z_position": [
+              0.11448147147893906,
+              -0.4423683285713196,
+              0.7686841487884521
+            ],
+            "min_active_finger_to_button": 0.1464183931377505,
+            "closest_active_finger": [
+              -0.02704111486673355,
+              -0.4274873733520508,
+              0.8113591074943542
+            ],
+            "closest_active_finger_button": [
+              0.11446018517017366,
+              -0.44238731265068054,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1415013000369072,
+              0.01489993929862976,
+              0.034550249576568604
+            ],
+            "min_contact_pad_to_button": 0.021031369151230946,
+            "closest_contact_pad": [
+              0.11448147147893906,
+              -0.4443141448276389,
+              0.7896253113032695
+            ],
+            "closest_contact_pad_button": [
+              0.11448147147893906,
+              -0.4423683285713196,
+              0.7686841487884521
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019458162563193437,
+              0.02094116251481737
+            ]
+          },
+          "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": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5894bd89900986e8d57dcfaf7eb1001ef2ad6f05f4adc7bea54872d6bad95064",
+    "visual_seed": 7847933704200657191,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..30d4837ab70b7d37ede7257eb921abfe57e9f513
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_111_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36896386829078687,
+              0.28804119149880025,
+              1.0486714433238367
+            ],
+            "current_z": 1.0486714433238367,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19208505512456064,
+            "gripper_z": 1.0481699900329249,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3630504913104391,
+              0.28275863144812674,
+              1.0481699900329249
+            ],
+            "object_minus_gripper": [
+              0.005913376980347773,
+              0.005282560050673513,
+              0.0005014532909117797
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+            "object_to_gripper_xy": 0.007929279160218707,
+            "object_to_gripper_z": 0.0005014532909117797,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36896386829078687,
+              0.26301140927159306,
+              1.0486714433238367
+            ],
+            "finger_b": [
+              0.35650708411451704,
+              0.28804119149880025,
+              1.0486714433238367
+            ],
+            "finger_midpoint": [
+              0.36273547620265195,
+              0.27552630038519665,
+              1.0486714433238367
+            ],
+            "object_minus_finger_midpoint": [
+              0.006228392088134915,
+              0.012514891113603599,
+              0.0
+            ],
+            "finger_gap": 0.027958209355314297,
+            "fingertip_max_gap": 0.09265504686101697,
+            "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": 1.0486714433238367,
+            "object_top_z": 1.0944209962916216,
+            "finger_top_clearance": 0.045749552967784934,
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+            "object_projection_between_fingers": 0.8014850700731382,
+            "object_to_finger_line_xy": 0.011152023050578129,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882752343050849,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4912786015651118,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3691358751661067,
+              0.2863204179527208,
+              1.236238175877559
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+            "held_position": [
+              0.375415379912292,
+              0.2911723309233253,
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00794419510326179,
+            "max_held_gripper_dist": 0.007945600571307145,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003701303918950405,
+            "max_held_gripper_z_dist": 0.0005116023472124809,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08920975860508454,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.375415379912292,
+              0.26527497956883433,
+              1.236608306269454
+            ],
+            "held_grasp_finger_b": [
+              0.36477329805153186,
+              0.2911723309233253,
+              1.236608306269454
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+            "held_grasp_midpoint": [
+              0.3700943389819119,
+              0.27822365524607984,
+              1.236608306269454
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+            "held_grasp_object_position": [
+              0.375415379912292,
+              0.2911723309233253,
+              1.236608306269454
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+            "held_grasp_finger_gap": 0.027998691282077357,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025386165219942934,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.045296031531578164,
+              -0.9988747088988954,
+              0.014056509155446203
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004732622444094247,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03202509828031268,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26421455873902955,
+              -0.3851223351614162,
+              0.8470195408623142
+            ],
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+              0.25735996965254976,
+              -0.38744203038202363,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007236461667209797,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857476733452169,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195408623142,
+            "min_z": 0.5730800627579278,
+            "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": 0.07541917945838292,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613572055260808,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15450979326715364,
+            "release_required_pad_clearance": 0.053067860276304044,
+            "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": 1.1649816798631527,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00820612907409668,
+            "max_z_decrease": 0.00820612907409668,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504362797110711,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00820612907409668,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021150844667113478,
+            "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": 0.00820612907409668,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008206200339327847,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11305989325046538,
+              -0.44370350241661066,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11305989325046538,
+              -0.44370350241661066,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11377719933501831,
+              -0.44547143593864885,
+              0.8035936160965503
+            ],
+            "closest_button": [
+              0.11308375746011733,
+              -0.443679004907608,
+              0.768602728843689
+            ],
+            "closest_ee_minus_button": [
+              0.000693441874900988,
+              -0.0017924310310408753,
+              0.03499088725286137
+            ],
+            "button_min_z_position": [
+              0.11308375746011733,
+              -0.443679004907608,
+              0.768602728843689
+            ],
+            "min_active_finger_to_button": 0.14496105402692877,
+            "closest_active_finger": [
+              -0.026935726404190063,
+              -0.428776353597641,
+              0.8106390833854675
+            ],
+            "closest_active_finger_button": [
+              0.11306141316890715,
+              -0.44370013475418085,
+              0.7761167883872986
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13999713957309723,
+              0.014923781156539861,
+              0.034522294998168945
+            ],
+            "min_contact_pad_to_button": 0.021150844667113478,
+            "closest_contact_pad": [
+              0.11308375746011733,
+              -0.4467110434465672,
+              0.7895351193529124
+            ],
+            "closest_contact_pad_button": [
+              0.11308375746011733,
+              -0.443679004907608,
+              0.768602728843689
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030320385389592253,
+              0.020932390509223464
+            ]
+          },
+          "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": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c4a5e569716cea7da1beb62cfa0a76847f733457d8597a5e5ecf05150888cfe8",
+    "visual_seed": 8991059362635625123,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_113_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..abc61cfa50c624827ee0dc1d7d678654c053bcbe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_113_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+            "active_arm": null,
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+              0.29344754442525367,
+              1.0503331020939755
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+            "lift_margin": 0.19374653508076511,
+            "gripper_z": 1.0498016586345271,
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+              0.3644758632294366,
+              0.28818450937013274,
+              1.0498016586345271
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+              0.00595992907011389,
+              0.005263035055120935,
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+            "object_to_gripper_z": 0.000531443459448333,
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+              0.3704357922995505,
+              0.2683856591041115,
+              1.0503331020939755
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+            "finger_b": [
+              0.3580068687621456,
+              0.29344754442525367,
+              1.0503331020939755
+            ],
+            "finger_midpoint": [
+              0.36422133053084804,
+              0.2809166017646826,
+              1.0503331020939755
+            ],
+            "object_minus_finger_midpoint": [
+              0.0062144617687024395,
+              0.012530942660571087,
+              0.0
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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_top_z": 1.0961343606220295,
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+            "object_projection_between_fingers": 0.8026030779328489,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881463719245151,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e5dc521753dc79fa2915e1002675c2eb95b3e61d6d22822e7fca42ec6dc1d12",
+    "visual_seed": 459471500242735706,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_114_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8303667f82e78530e1a765d84374c53be902ef42
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_114_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.28842814930288063,
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+              0.2637852810834646,
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+              0.27610671519317265,
+              1.048648066750971
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_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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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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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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+                  "b": "/World/target_beaker/mesh"
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528073494999857,
+            "release_required_pad_clearance": 0.05325071511652135,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5200360940851616,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008025527000427246,
+            "max_z_decrease": 0.008025527000427246,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035096034073171106,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008025527000427246,
+            "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": 0.02107336990332751,
+            "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": 0.008025527000427246,
+            "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": 0.008025548938692863,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11183837801218031,
+              -0.4359041452407837,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11183837801218031,
+              -0.4359041452407837,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11016957044367084,
+              -0.4358903493822846,
+              0.8068380262984968
+            ],
+            "closest_button": [
+              0.11182690411806105,
+              -0.43589612841606146,
+              0.7717811465263367
+            ],
+            "closest_ee_minus_button": [
+              -0.0016573336743902073,
+              5.779033776853737e-06,
+              0.0350568797721601
+            ],
+            "button_min_z_position": [
+              0.11181994527578354,
+              -0.43590062856674194,
+              0.7687833309173584
+            ],
+            "min_active_finger_to_button": 0.14767216746196798,
+            "closest_active_finger": [
+              -0.01700994372367859,
+              -0.4992597699165344,
+              0.8111588358879089
+            ],
+            "closest_active_finger_button": [
+              0.11184073984622955,
+              -0.4359036386013031,
+              0.7766541838645935
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12885068356990814,
+              -0.06335613131523132,
+              0.03450465202331543
+            ],
+            "min_contact_pad_to_button": 0.02107336990332751,
+            "closest_contact_pad": [
+              0.11181994527578354,
+              -0.4369548957132549,
+              0.7898303126455363
+            ],
+            "closest_contact_pad_button": [
+              0.11181994527578354,
+              -0.43590062856674194,
+              0.7687833309173584
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001054267146512966,
+              0.02104698172817787
+            ]
+          },
+          "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": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff31aab26de214a3a1cbb3d499b19345791f1bf2bde58fa9726ca0d25df3f617",
+    "visual_seed": 9012328605393961687,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_115_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..196e2e0247bd8cb961b69935f65159bfc19b3ca7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_115_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.36659758375125084,
+              0.2967417245198596,
+              1.0494055504740814
+            ],
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+            "lift_margin": 0.19281910267016056,
+            "gripper_z": 1.0479817817278865,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36104279074338946,
+              0.2915500380729513,
+              1.0479817817278865
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+              0.0055547930078613805,
+              0.005191686446908261,
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+            "object_to_gripper_z": 0.0014237687461948756,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36659758375125084,
+              0.2720712401911691,
+              1.0494055504740814
+            ],
+            "finger_b": [
+              0.3541350306564365,
+              0.2967417245198596,
+              1.0494055504740814
+            ],
+            "finger_midpoint": [
+              0.36036630720384366,
+              0.28440648235551436,
+              1.0494055504740814
+            ],
+            "object_minus_finger_midpoint": [
+              0.006231276547407183,
+              0.012335242164345228,
+              0.0
+            ],
+            "finger_gap": 0.027639609741333743,
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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": 1.0955587834821285,
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+            "object_projection_between_fingers": 0.796693984116321,
+            "object_to_finger_line_xy": 0.011123790230703,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851440207413217,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26588702786748974,
+              -0.37919729370308797,
+              0.8470195970595122
+            ],
+            "target_position": [
+              0.25967657691932067,
+              -0.3811325871111101,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00650500280974175,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18561008271479804,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195970595122,
+            "min_z": 0.5730800627579278,
+            "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": 0.07564566361338244,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547477016019224,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536667803127391,
+            "release_required_pad_clearance": 0.05273738508009612,
+            "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": 0.5263743123647856,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007882237434387207,
+            "max_z_decrease": 0.007882237434387207,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511081209216674,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007882237434387207,
+            "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": 0.02111249796519502,
+            "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": 0.007882237434387207,
+            "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": 0.007882260004993615,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1153765022754669,
+              -0.43739405274391174,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1153765022754669,
+              -0.43739405274391174,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1137032188522143,
+              -0.4379578118679927,
+              0.8069173652218553
+            ],
+            "closest_button": [
+              0.1153660863637924,
+              -0.43738773465156555,
+              0.7718505859375
+            ],
+            "closest_ee_minus_button": [
+              -0.0016628675115781116,
+              -0.0005700772164271561,
+              0.03506677928435531
+            ],
+            "button_min_z_position": [
+              0.11535857617855068,
+              -0.43738818168640137,
+              0.7689266204833984
+            ],
+            "min_active_finger_to_button": 0.1476661401567172,
+            "closest_active_finger": [
+              -0.027392588555812836,
+              -0.4223153293132782,
+              0.811007022857666
+            ],
+            "closest_active_finger_button": [
+              0.11537808179855344,
+              -0.4373939037322998,
+              0.7764460444450378
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14277067035436627,
+              0.015078574419021606,
+              0.034560978412628174
+            ],
+            "min_contact_pad_to_button": 0.02111249796519502,
+            "closest_contact_pad": [
+              0.11535857617855068,
+              -0.43905365361271087,
+              0.789973325061385
+            ],
+            "closest_contact_pad_button": [
+              0.11535857617855068,
+              -0.43738818168640137,
+              0.7689266204833984
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001665471926309503,
+              0.02104670457798652
+            ]
+          },
+          "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": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbf623d676ba00d0971e86aa4291f598e3d928884b4483b96a76f19cc498a858",
+    "visual_seed": 4432024345418882594,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_116_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94bb5efee9a895bfce53ea9c07da1fb340a8ba0a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_116_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+          "failure_code": null,
+          "failure_messages": {},
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+                "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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
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+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+          "failure_code": null,
+          "failure_messages": {},
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+                "beaker_b"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
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+              "failed_keys": []
+            },
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+      "physical_semantics": {
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.15460341339873848,
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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": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+          }
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+    },
+    {
+      "step_index": 3,
+      "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": 0.008045554161071777,
+            "max_z_decrease": 0.008045554161071777,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507640709365716,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008045554161071777,
+            "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": 0.021070492766327317,
+            "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": 0.008045554161071777,
+            "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": 0.008045565376652436,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11274444311857221,
+              -0.4393497407436371,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11274444311857221,
+              -0.4393497407436371,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11259590711673145,
+              -0.4390869665472092,
+              0.8080712011075237
+            ],
+            "closest_button": [
+              0.11275062710046765,
+              -0.43934276700019836,
+              0.7729960680007935
+            ],
+            "closest_ee_minus_button": [
+              -0.00015471998373620122,
+              0.0002558004529891744,
+              0.03507513310673027
+            ],
+            "button_min_z_position": [
+              0.11273469030857083,
+              -0.4393405020236969,
+              0.7687633037567139
+            ],
+            "min_active_finger_to_button": 0.14628632512241974,
+            "closest_active_finger": [
+              -0.014009244740009308,
+              -0.5037014484405518,
+              0.8108434677124023
+            ],
+            "closest_active_finger_button": [
+              0.11274660378694533,
+              -0.43934717774391174,
+              0.7763301134109497
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12675584852695465,
+              -0.06435427069664001,
+              0.03451335430145264
+            ],
+            "min_contact_pad_to_button": 0.021070492766327317,
+            "closest_contact_pad": [
+              0.11273469030857083,
+              -0.44001030311650674,
+              0.7898231478186228
+            ],
+            "closest_contact_pad_button": [
+              0.11273469030857083,
+              -0.4393405020236969,
+              0.7687633037567139
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006698010928098408,
+              0.021059844061908972
+            ]
+          },
+          "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": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e86af2adc903df787de99b2d07a821758a209ef2b4fd576acad4115df9aa7810",
+    "visual_seed": 3788310935737152896,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_118_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_118_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..92d3583863790dd040ab7737f2f666abcdfb87ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_118_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 118,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3714905692640721,
+              0.2901643148571296,
+              1.0494263072112877
+            ],
+            "current_z": 1.0494263072112877,
+            "required_z": 0.8565866862224997,
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+            "lift_margin": 0.19283962098878804,
+            "gripper_z": 1.0489047076501155,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3655347215564049,
+              0.2848705488915771,
+              1.0489047076501155
+            ],
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+              0.005955847707667217,
+              0.005293765965552533,
+              0.000521599561172259
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+            "object_to_gripper_xy": 0.007968442759722076,
+            "object_to_gripper_z": 0.000521599561172259,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3714905692640721,
+              0.26515850788625356,
+              1.0494263072112877
+            ],
+            "finger_b": [
+              0.3589498685563736,
+              0.2901643148571296,
+              1.0494263072112877
+            ],
+            "finger_midpoint": [
+              0.3652202189102228,
+              0.2776614113716916,
+              1.0494263072112877
+            ],
+            "object_minus_finger_midpoint": [
+              0.006270350353849263,
+              0.012502903485438033,
+              0.0
+            ],
+            "finger_gap": 0.027974265969007713,
+            "fingertip_max_gap": 0.09303474145399213,
+            "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": 1.0494263072112877,
+            "object_top_z": 1.095358077810265,
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+            "object_projection_between_fingers": 0.7990323254852391,
+            "object_to_finger_line_xy": 0.011209957806351721,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049017370726996065,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6406968078479083,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3715943666624456,
+              0.2887122446056133,
+              1.237962487447068
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+            "held_position": [
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007986924701794185,
+            "max_held_gripper_dist": 0.007988350201181578,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004071245232930565,
+            "max_held_gripper_z_dist": 0.0005342116710831402,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08919000652264797,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3779130035268844,
+              0.26770502316770706,
+              1.238369611970361
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+            "held_grasp_finger_b": [
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+              0.29358051370150545,
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+              0.37252531859472515,
+              0.2806427684346062,
+              1.238369611970361
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+            "held_grasp_object_position": [
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+              0.29358051370150545,
+              1.238369611970361
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+            "held_grasp_finger_gap": 0.028029441772492603,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025390231255049772,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04253890745194386,
+              -0.9989609156473848,
+              0.01635635539274538
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004837163695122105,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03204673687686718,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "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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+                "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"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+                "link0",
+                "table",
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.262679997860295,
+              -0.3775277016985807,
+              0.8470195129764828
+            ],
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+              0.2548805555410064,
+              -0.38060277637192175,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00838375719701694,
+            "xy_threshold": 0.08,
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+            "gripper_away_ok": true,
+            "object_z": 0.8470195129764828,
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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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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.541511583876442,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007838666439056396,
+            "max_z_decrease": 0.007838666439056396,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513193078295739,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007838666439056396,
+            "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": 0.021191806658030103,
+            "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": 0.007838666439056396,
+            "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": 0.00783869059073655,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11058048158884047,
+              -0.4368642270565033,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11058048158884047,
+              -0.4368642270565033,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10877540537664171,
+              -0.4386707675347183,
+              0.8073495299513873
+            ],
+            "closest_button": [
+              0.11056947708129881,
+              -0.43685880303382874,
+              0.7723102569580078
+            ],
+            "closest_ee_minus_button": [
+              -0.0017940717046571047,
+              -0.0018119645008895513,
+              0.0350392729933795
+            ],
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+              0.110561802983284,
+              -0.43685877323150635,
+              0.7689701914787292
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+            "closest_active_finger": [
+              -0.03254497051239014,
+              -0.4242812991142273,
+              0.8110714554786682
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+              0.11058223247528075,
+              -0.43686145544052124,
+              0.7764807343482971
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.1431272029876709,
+              0.012580156326293945,
+              0.034590721130371094
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+            "closest_contact_pad": [
+              0.110561802983284,
+              -0.4396009631525111,
+              0.7899838314268313
+            ],
+            "closest_contact_pad_button": [
+              0.110561802983284,
+              -0.43685877323150635,
+              0.7689701914787292
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027421899210047784,
+              0.021013639948102014
+            ]
+          },
+          "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": 118,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b1701c686224e01095f85a8b628360d4d2c2300d6e626c4e404c5816eac8949",
+    "visual_seed": 3682644185237059497,
+    "episode_index": 118,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_120_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_120_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0dfe98536b86751de5d4dfe0b6d591ec548f237
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_120_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 120,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.28702285990732634,
+              1.0489981164240267
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+            "gripper_z": 1.0478364077761695,
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+            "gripper_position": [
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+              0.2818433687620897,
+              1.0478364077761695
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+              0.0051794911452366366,
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+            "object_to_gripper_z": 0.0011617086478572514,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.367583937558793,
+              0.26226250431086096,
+              1.0489981164240267
+            ],
+            "finger_b": [
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+              0.28702285990732634,
+              1.0489981164240267
+            ],
+            "finger_midpoint": [
+              0.36135565911765677,
+              0.27464268210909365,
+              1.0489981164240267
+            ],
+            "object_minus_finger_midpoint": [
+              0.006228278441136215,
+              0.012380177798232694,
+              0.0
+            ],
+            "finger_gap": 0.027717161085232103,
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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": 0.798024570935999,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8585098015567589,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
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+                "/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": 120,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f9aa04be0672acbc95a557138e08413363db69c9e6d30f68942625de45eadde",
+    "visual_seed": 4388778107616541597,
+    "episode_index": 120,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_121_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..33e15e30fb0fcffc1bc59f3ece623ec6770b4097
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_121_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.2972337265909602,
+              1.0504087258332933
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+              0.2919929198923685,
+              1.0490724258291735
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+              0.005240806698591727,
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+              0.2724214101703834,
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+              0.2848275683806718,
+              1.0504087258332933
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+              0.012406158210288398,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                },
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.0013477751682595684,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+          }
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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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+    },
+    {
+      "step_index": 2,
+      "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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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15395224772789134,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007717490196228027,
+            "max_z_decrease": 0.007717490196228027,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509310215106507,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007717490196228027,
+            "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": 0.02107741327390206,
+            "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": 0.007717490196228027,
+            "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": 0.007717516813001957,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11147889494895932,
+              -0.43694776296615606,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11147889494895932,
+              -0.43694776296615606,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11066792523318764,
+              -0.4363875020661593,
+              0.8077553554196775
+            ],
+            "closest_button": [
+              0.11147039383649823,
+              -0.4369420409202576,
+              0.7726758122444153
+            ],
+            "closest_ee_minus_button": [
+              -0.0008024686033105966,
+              0.0005545388540983409,
+              0.035079543175262184
+            ],
+            "button_min_z_position": [
+              0.11145938187837598,
+              -0.4369422793388367,
+              0.7690913677215576
+            ],
+            "min_active_finger_to_button": 0.14668625573825939,
+            "closest_active_finger": [
+              -0.017116650938987732,
+              -0.4985279440879822,
+              0.8109985589981079
+            ],
+            "closest_active_finger_button": [
+              0.11148030310869216,
+              -0.43694582581520086,
+              0.776540994644165
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1285969540476799,
+              -0.06158211827278132,
+              0.03445756435394287
+            ],
+            "min_contact_pad_to_button": 0.02107741327390206,
+            "closest_contact_pad": [
+              0.11145938187837598,
+              -0.437558434893864,
+              0.7901597730397318
+            ],
+            "closest_contact_pad_button": [
+              0.11145938187837598,
+              -0.4369422793388367,
+              0.7690913677215576
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006161555550272535,
+              0.02106840531817422
+            ]
+          },
+          "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": 121,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef20b812837744465365b0b93e53ac6ebd1374d24c9a15b035afd3a77ab5cb54",
+    "visual_seed": 5530244796921052312,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_122_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_122_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..02ce689318f0b413723d9009c619e7636604e1aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_122_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 122,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.364603220113852,
+              0.28909470659658904,
+              1.0512431005073275
+            ],
+            "current_z": 1.0512431005073275,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19465653349411716,
+            "gripper_z": 1.0509185582114415,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3586804694775185,
+              0.2837945525891838,
+              1.0509185582114415
+            ],
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+              0.0059227506363334625,
+              0.0053001540074052444,
+              0.0003245422958859656
+            ],
+            "object_to_gripper_xy": 0.007947993935730091,
+            "object_to_gripper_z": 0.0003245422958859656,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.364603220113852,
+              0.26407581327915297,
+              1.0512431005073275
+            ],
+            "finger_b": [
+              0.3520992521398757,
+              0.28909470659658904,
+              1.0512431005073275
+            ],
+            "finger_midpoint": [
+              0.3583512361268638,
+              0.276585259937871,
+              1.0512431005073275
+            ],
+            "object_minus_finger_midpoint": [
+              0.006251983986988174,
+              0.01250944665871806,
+              0.0
+            ],
+            "finger_gap": 0.027969523376766215,
+            "fingertip_max_gap": 0.09278191656008242,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013984761688383146,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512431005073275,
+            "object_top_z": 1.0970364395510912,
+            "finger_top_clearance": 0.0457933390437637,
+            "fingertip_min_top_clearance": 0.013738001713129078,
+            "object_projection_between_fingers": 0.8001401422702032,
+            "object_to_finger_line_xy": 0.011184868493161972,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04889095828004121,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5404123928242675,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
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+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2628854688883826,
+              -0.3861165495861571,
+              0.8470193399993149
+            ],
+            "target_position": [
+              0.25560608094720594,
+              -0.3888299145978965,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007768644571936588,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18597608495127507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193399993149,
+            "min_z": 0.5730800627579278,
+            "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": 0.07560629117786648,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08667882689121585,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15432789602391445,
+            "release_required_pad_clearance": 0.05333941344560793,
+            "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": 1.6953054801646852,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008153021335601807,
+            "max_z_decrease": 0.008153021335601807,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507092401115049,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008153021335601807,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020955303886484034,
+            "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": 0.008153021335601807,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00815310160736219,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11130600422620772,
+              -0.4450913667678833,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11130600422620772,
+              -0.4450913667678833,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11282489299635337,
+              -0.4434672192682422,
+              0.803658467999046
+            ],
+            "closest_button": [
+              0.11133206635713574,
+              -0.4450662732124328,
+              0.7686558365821838
+            ],
+            "closest_ee_minus_button": [
+              0.001492826639217626,
+              0.0015990539441906315,
+              0.03500263141686211
+            ],
+            "button_min_z_position": [
+              0.11133206635713574,
+              -0.4450662732124328,
+              0.7686558365821838
+            ],
+            "min_active_finger_to_button": 0.1439326257036734,
+            "closest_active_finger": [
+              -0.01376798003911972,
+              -0.5074066519737244,
+              0.8112860918045044
+            ],
+            "closest_active_finger_button": [
+              0.11130636930465697,
+              -0.4450903534889221,
+              0.7767942547798157
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1250743493437767,
+              -0.062316298484802246,
+              0.03449183702468872
+            ],
+            "min_contact_pad_to_button": 0.020955303886484034,
+            "closest_contact_pad": [
+              0.11133206635713574,
+              -0.4450662732124328,
+              0.7896111404686679
+            ],
+            "closest_contact_pad_button": [
+              0.11133206635713574,
+              -0.4450662732124328,
+              0.7686558365821838
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020955303886484034
+            ]
+          },
+          "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": 122,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fac68c976e571176f69f1bf1072c34c4472cb12fa59adf800dfb512130472701",
+    "visual_seed": 8410393885781382911,
+    "episode_index": 122,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_123_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac0f791426dccbe2b1d82dea5e3000ba14feb41c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_123_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+          "failure_messages": {},
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+                "Robotiq_2F_85",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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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+                "b": "/World/target_plat/plat",
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+                "b_name": "inspection_platform"
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_messages": {},
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
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+              "failed_keys": []
+            },
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+        "post_done_wait_frames": 0,
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.15246310651909661,
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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": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+          }
+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
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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": {
+            "target": "heat_button",
+            "z_decrease": 0.008025109767913818,
+            "max_z_decrease": 0.008025109767913818,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035089400482764585,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008025109767913818,
+            "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": 0.02107473941342309,
+            "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": 0.008025109767913818,
+            "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": 0.008025130397209075,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10673595219850539,
+              -0.4442121088504791,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10673595219850539,
+              -0.4442121088504791,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10569740970035912,
+              -0.44338190891055196,
+              0.8072599024035686
+            ],
+            "closest_button": [
+              0.1067266687750816,
+              -0.4442058503627777,
+              0.7721952795982361
+            ],
+            "closest_ee_minus_button": [
+              -0.0010292590747224828,
+              0.0008239414522257515,
+              0.03506462280533251
+            ],
+            "button_min_z_position": [
+              0.10671838372945783,
+              -0.4442073702812195,
+              0.7687837481498718
+            ],
+            "min_active_finger_to_button": 0.14678174916228606,
+            "closest_active_finger": [
+              -0.02136116474866867,
+              -0.5070391893386841,
+              0.8070595264434814
+            ],
+            "closest_active_finger_button": [
+              0.10672812163829802,
+              -0.44420427083969116,
+              0.7725661993026733
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1280892863869667,
+              -0.06283491849899292,
+              0.034493327140808105
+            ],
+            "min_contact_pad_to_button": 0.02107473941342309,
+            "closest_contact_pad": [
+              0.10671838372945783,
+              -0.44440410545715375,
+              0.7898575692702628
+            ],
+            "closest_contact_pad_button": [
+              0.10671838372945783,
+              -0.4442073702812195,
+              0.7687837481498718
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001967351759342706,
+              0.021073821120391023
+            ]
+          },
+          "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": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51c8d291f90954140c5ea7e5030322ba38eb59aabc944baa2f4b4a82d7fef6ae",
+    "visual_seed": 6735612651461563270,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_126_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_126_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7241b673755145284a9e88c6a76fd20168cdb78
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_126_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 126,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.37409031155296274,
+              0.2943390444471851,
+              1.0505147372316295
+            ],
+            "current_z": 1.0505147372316295,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19392834903235345,
+            "gripper_z": 1.0490226523156732,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3683919643226379,
+              0.2891818965310674,
+              1.0490226523156732
+            ],
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+              0.005698347230324863,
+              0.00515714791611771,
+              0.0014920849159563154
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+            "object_to_gripper_xy": 0.007685527684295222,
+            "object_to_gripper_z": 0.0014920849159563154,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37409031155296274,
+              0.2694546213329732,
+              1.0505147372316295
+            ],
+            "finger_b": [
+              0.3618170431438079,
+              0.2943390444471851,
+              1.0505147372316295
+            ],
+            "finger_midpoint": [
+              0.36795367734838536,
+              0.28189683289007916,
+              1.0505147372316295
+            ],
+            "object_minus_finger_midpoint": [
+              0.006136634204577385,
+              0.012442211557105953,
+              0.0
+            ],
+            "finger_gap": 0.027746488627757596,
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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": 1.0505147372316295,
+            "object_top_z": 1.0964748411736651,
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+            "fingertip_min_top_clearance": 0.01378803118261066,
+            "object_projection_between_fingers": 0.8043389391314202,
+            "object_to_finger_line_xy": 0.011007274044116822,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827991753360851,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5150596771812251,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37481949319212343,
+              0.29251386939219876,
+              1.2393080648798003
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+            "held_position": [
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+              1.2406865009050922
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007828892421800002,
+            "max_held_gripper_dist": 0.007830250563691417,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013784360252919736,
+            "max_held_gripper_z_dist": 0.0015051859655892397,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08974640305710246,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3809284414213441,
+              0.27131965355665916,
+              1.2406865009050922
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+            "held_grasp_finger_b": [
+              0.37064807632067553,
+              0.2972119777571683,
+              1.2406865009050922
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+            "held_grasp_midpoint": [
+              0.3757882588710098,
+              0.2842658156569137,
+              1.2406865009050922
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+            "held_grasp_object_position": [
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+              0.2972119777571683,
+              1.2406865009050922
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+            "held_grasp_finger_gap": 0.027858541941517947,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024941716439788705,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0832708298433128,
+              -0.9963482139740214,
+              0.018873404779850333
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004051911432016608,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031873312212891525,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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"
+              ],
+              "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.26627460852733653,
+              -0.37773415929968696,
+              0.8470196180395824
+            ],
+            "target_position": [
+              0.25959032010865146,
+              -0.38001321275295474,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007062138224859322,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18643470479875837,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196180395824,
+            "min_z": 0.5730800627579278,
+            "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": 0.0856588750582807,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15401267778761518,
+            "release_required_pad_clearance": 0.05282943752914035,
+            "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": 0.7010871036683474,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008021831512451172,
+            "max_z_decrease": 0.008021831512451172,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516326054480074,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008021831512451172,
+            "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": 0.021025247094956567,
+            "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": 0.008021831512451172,
+            "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": 0.008021858516943996,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11529024690389632,
+              -0.4362746775150299,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11529024690389632,
+              -0.4362746775150299,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11329202486674211,
+              -0.4345481487231996,
+              0.807546015082101
+            ],
+            "closest_button": [
+              0.11527933925390241,
+              -0.43626868724823,
+              0.7724811434745789
+            ],
+            "closest_ee_minus_button": [
+              -0.001987314387160294,
+              0.0017205385250304017,
+              0.03506487160752214
+            ],
+            "button_min_z_position": [
+              0.11526985466480252,
+              -0.4362705051898956,
+              0.7687870264053345
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+            "min_active_finger_to_button": 0.14724074183499358,
+            "closest_active_finger": [
+              -0.01461697369813919,
+              -0.4964402914047241,
+              0.8105316758155823
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+            "closest_active_finger_button": [
+              0.11528902500867842,
+              -0.43627411127090454,
+              0.7761180400848389
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+            "closest_active_finger_minus_button": [
+              -0.12990599870681763,
+              -0.06016618013381958,
+              0.03441363573074341
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+            "closest_contact_pad": [
+              0.11527103185653685,
+              -0.4362689554691314,
+              0.7898922629335796
+            ],
+            "closest_contact_pad_button": [
+              0.11527103185653685,
+              -0.4362689554691314,
+              0.768867015838623
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021025247094956567
+            ]
+          },
+          "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": 126,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "951430d8ac51b4893ff790c4811e34663618023b76d914f24e0fa4e3b4ad8666",
+    "visual_seed": 1981445683952882795,
+    "episode_index": 126,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_127_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_127_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2f32623799927cde59e4a20c7b1e44e0e904d09
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_127_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 127,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.2913987432967818,
+              1.0494814559016032
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+            "lift_margin": 0.19289500809768245,
+            "gripper_z": 1.049203133066885,
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+            "gripper_position": [
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+              0.28615409957088567,
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+              0.005244643725896114,
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+            "object_to_gripper_z": 0.000278322834718292,
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+              0.26626345139396207,
+              1.0494814559016032
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+              1.0494814559016032
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+              0.3668991955007571,
+              0.2788310973453719,
+              1.0494814559016032
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+              0.006151941108477499,
+              0.012567645951409856,
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+            "fingertip_z_skew_max": 0.035,
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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,
+              1.0
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+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+                "/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": 127,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "21cdf532e0095410a2ef426c1c5637c73a5871db78de26afcd3e288756e44f6b",
+    "visual_seed": 7970956027579539616,
+    "episode_index": 127,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_129_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_129_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..00390e0df8126febafbdab8fd0c7c6ad89f8de05
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_129_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 129,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+              0.29519578630255344,
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+              0.2899914570236269,
+              1.0483543331283678
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+              0.005204329278926556,
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+              0.27053556559187564,
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+              0.28286567594721457,
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+              0.012330110355338875,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486950718399881,
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+              0.0,
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+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                },
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_shake_count": 5,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15256733562103192,
+            "release_required_pad_clearance": 0.05273069713448751,
+            "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": 0.5128170136768613,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008042514324188232,
+            "max_z_decrease": 0.008042514324188232,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035085226096811264,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008042514324188232,
+            "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": 0.021122494197111458,
+            "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": 0.008042514324188232,
+            "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": 0.00804252858522895,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11010403931140898,
+              -0.43714275956153864,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11010403931140898,
+              -0.43714275956153864,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10960403982532743,
+              -0.43786411717349333,
+              0.8072512966589834
+            ],
+            "closest_button": [
+              0.11009170860052109,
+              -0.4371377229690551,
+              0.77217698097229
+            ],
+            "closest_ee_minus_button": [
+              -0.0004876687751936559,
+              -0.0007263942044382077,
+              0.03507431568669339
+            ],
+            "button_min_z_position": [
+              0.1100909039378166,
+              -0.4371352195739746,
+              0.7687663435935974
+            ],
+            "min_active_finger_to_button": 0.14657968671983865,
+            "closest_active_finger": [
+              -0.03131335973739624,
+              -0.41999268531799316,
+              0.8112348318099976
+            ],
+            "closest_active_finger_button": [
+              0.11010874807834625,
+              -0.4371396601200104,
+              0.7767185568809509
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1414221078157425,
+              0.017146974802017212,
+              0.03451627492904663
+            ],
+            "min_contact_pad_to_button": 0.021122494197111458,
+            "closest_contact_pad": [
+              0.1100909039378166,
+              -0.4390955864126939,
+              0.7897976707738934
+            ],
+            "closest_contact_pad_button": [
+              0.1100909039378166,
+              -0.4371352195739746,
+              0.7687663435935974
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019603668387193074,
+              0.02103132718029599
+            ]
+          },
+          "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": 129,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b9c22c716f2eee05c215f405e619978ba3d71bd5f3ee25796cb80c22b0f5a51",
+    "visual_seed": 2288433009961875592,
+    "episode_index": 129,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd42659f19f64cd1350efe18ab82646d64a26528
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_12_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3712229124656137,
+              0.29363907015535917,
+              1.051131766367714
+            ],
+            "current_z": 1.051131766367714,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19454537816843798,
+            "gripper_z": 1.049858611580968,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.365588133946905,
+              0.28841724058437085,
+              1.049858611580968
+            ],
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+              0.005634778518708694,
+              0.005221829570988323,
+              0.0012731547867459447
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+            "object_to_gripper_xy": 0.007682332524913839,
+            "object_to_gripper_z": 0.0012731547867459447,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3712229124656137,
+              0.2689128233353566,
+              1.051131766367714
+            ],
+            "finger_b": [
+              0.35871272210301125,
+              0.29363907015535917,
+              1.051131766367714
+            ],
+            "finger_midpoint": [
+              0.3649678172843125,
+              0.2812759467453579,
+              1.051131766367714
+            ],
+            "object_minus_finger_midpoint": [
+              0.006255095181301185,
+              0.012363123410001287,
+              0.0
+            ],
+            "finger_gap": 0.027710866906544767,
+            "fingertip_max_gap": 0.09343229707681297,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01385543345327237,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.098165954781142,
+            "finger_top_clearance": 0.04703418841342799,
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+            "object_projection_between_fingers": 0.7961890039034067,
+            "object_to_finger_line_xy": 0.011162770753948045,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04921614853840649,
+            "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": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_130_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_130_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..043ed0b4a02d9cf91b68216470a57fb71838ba5d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_130_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 130,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              0.2812707533003387,
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+          "failure_messages": {},
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+                "Robotiq2F85",
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+                "elbow_joint",
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+                "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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              "robot_prim_substrings": [
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+                "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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                "table",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+      "skill": "place",
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+      "reason": "executed",
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+          "failure_messages": {},
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+              "allowed_objects": [
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+                "heater_platform"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
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+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                "ground",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.008161008358001709,
+            "max_z_decrease": 0.008161008358001709,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506211586738337,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008161008358001709,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021061539552993294,
+            "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": 0.008161008358001709,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008161041265263775,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1092564910650253,
+              -0.4454871118068695,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1092564910650253,
+              -0.4454871118068695,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1071831968526018,
+              -0.44669929745311426,
+              0.8036264303682484
+            ],
+            "closest_button": [
+              0.10926342755556102,
+              -0.4454649984836578,
+              0.7686478495597839
+            ],
+            "closest_ee_minus_button": [
+              -0.002080230702959221,
+              -0.001234298969456482,
+              0.0349785808084645
+            ],
+            "button_min_z_position": [
+              0.10926342755556102,
+              -0.4454649984836578,
+              0.7686478495597839
+            ],
+            "min_active_finger_to_button": 0.1477951396672511,
+            "closest_active_finger": [
+              -0.03383287787437439,
+              -0.43242156505584717,
+              0.8108240962028503
+            ],
+            "closest_active_finger_button": [
+              0.10925902426242826,
+              -0.44548386335372925,
+              0.776219367980957
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14309190213680265,
+              0.01306229829788208,
+              0.03460472822189331
+            ],
+            "min_contact_pad_to_button": 0.021061539552993294,
+            "closest_contact_pad": [
+              0.10926342755556102,
+              -0.44772359589030053,
+              0.7895879351875221
+            ],
+            "closest_contact_pad_button": [
+              0.10926342755556102,
+              -0.4454649984836578,
+              0.7686478495597839
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022585974066427483,
+              0.020940085627738192
+            ]
+          },
+          "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": 130,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a65113d0d55e846c59bc685621d8a0b39f3d9a7e2dca72e9538119c4338d466d",
+    "visual_seed": 2284238381981262813,
+    "episode_index": 130,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_131_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_131_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d86a404be9c08117cd9d546c34635a5e8bd18ce2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_131_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 131,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3720864729109532,
+              0.29862503731542583,
+              1.050693723949327
+            ],
+            "current_z": 1.050693723949327,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.19410721654076135,
+            "gripper_z": 1.0492326062614417,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3664238975268716,
+              0.2933842126942254,
+              1.0492326062614417
+            ],
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+              0.005662575384081603,
+              0.005240824621200457,
+              0.0014611176878853716
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+            "object_to_gripper_z": 0.0014611176878853716,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3720864729109532,
+              0.27383010404945524,
+              1.050693723949327
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+            "finger_b": [
+              0.3596255860637366,
+              0.29862503731542583,
+              1.050693723949327
+            ],
+            "finger_midpoint": [
+              0.3658560294873449,
+              0.28622757068244054,
+              1.050693723949327
+            ],
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+              0.0062304434236082895,
+              0.012397466632985299,
+              0.0
+            ],
+            "finger_gap": 0.02774999849879402,
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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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+            "finger_top_clearance": 0.04695871734231938,
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+            "object_projection_between_fingers": 0.7983621877198558,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04915107385209953,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.22201487815523,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3726938609236191,
+              0.29725151485461815,
+              1.2395790253799144
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+            "held_position": [
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+              1.2409331796144722
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007856881300926771,
+            "max_held_gripper_dist": 0.007858132752089294,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013541542345578694,
+            "max_held_gripper_z_dist": 0.0014749502301969475,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0893351359806086,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37877771508385044,
+              0.2762007286773934,
+              1.2409331796144722
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+            "held_grasp_finger_b": [
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+              0.30203519216845504,
+              1.2409331796144722
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+              0.28911796042292426,
+              1.2409331796144722
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+            "held_grasp_object_position": [
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+              0.30203519216845504,
+              1.2409331796144722
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+            "held_grasp_finger_gap": 0.027881546174659787,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024937680060288504,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07701272800144597,
+              -0.9965468642952582,
+              0.031038475946215234
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004252293199220378,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03192381141318726,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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+                "fr3_rightfinger",
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+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.260054279572906,
+              -0.38221413456216385,
+              0.8470196135031749
+            ],
+            "target_position": [
+              0.25403638303688014,
+              -0.38412469144919226,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006313897871907945,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18719658402884273,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196135031749,
+            "min_z": 0.5730800627579278,
+            "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": 0.07535295898020368,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594821205195706,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15598978306302905,
+            "release_required_pad_clearance": 0.05297410602597853,
+            "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": 0.9827692942217652,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007760167121887207,
+            "max_z_decrease": 0.007760167121887207,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035118528249380686,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007760167121887207,
+            "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": 0.021128212795436484,
+            "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": 0.007760167121887207,
+            "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": 0.0077601892135627385,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10973630845546721,
+              -0.4403861463069916,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10973630845546721,
+              -0.4403861463069916,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10784034663839329,
+              -0.44108780273079273,
+              0.8072387261068121
+            ],
+            "closest_button": [
+              0.10972530394792555,
+              -0.4403785467147827,
+              0.7721779942512512
+            ],
+            "closest_ee_minus_button": [
+              -0.0018849573095322675,
+              -0.0007092560160100181,
+              0.03506073185556091
+            ],
+            "button_min_z_position": [
+              0.10971877723932265,
+              -0.44038018584251404,
+              0.7690486907958984
+            ],
+            "min_active_finger_to_button": 0.14789151421007748,
+            "closest_active_finger": [
+              -0.03316275775432587,
+              -0.4244059920310974,
+              0.8111385703086853
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+            "closest_active_finger_button": [
+              0.10973843932151793,
+              -0.44038596749305725,
+              0.7765583992004395
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1429011970758438,
+              0.01597997546195984,
+              0.03458017110824585
+            ],
+            "min_contact_pad_to_button": 0.021128212795436484,
+            "closest_contact_pad": [
+              0.10971877723932265,
+              -0.44224818579008607,
+              0.790094164231417
+            ],
+            "closest_contact_pad_button": [
+              0.10971877723932265,
+              -0.44038018584251404,
+              0.7690486907958984
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00186799994757203,
+              0.021045473435518547
+            ]
+          },
+          "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": 131,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "285ecaa863736e0034ade6f15c0862c77f24301932ef55d3124c19ca815801aa",
+    "visual_seed": 2694313125912285444,
+    "episode_index": 131,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_133_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_133_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d688160dc9ba417c19c34159270953451f05af6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_133_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 133,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.29829942833124756,
+              1.04856030752204
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+            "lift_margin": 0.19197368090418487,
+            "gripper_z": 1.0470187506766664,
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+            "gripper_position": [
+              0.3655882035952591,
+              0.29293742187958566,
+              1.0470187506766664
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+              0.006038537177844472,
+              0.005362006451661905,
+              0.001541556845373604
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+            "object_to_gripper_z": 0.001541556845373604,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3716267407731036,
+              0.2732282842446201,
+              1.04856030752204
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+            "finger_b": [
+              0.35899269840268294,
+              0.29829942833124756,
+              1.04856030752204
+            ],
+            "finger_midpoint": [
+              0.36530971958789327,
+              0.2857638562879338,
+              1.04856030752204
+            ],
+            "object_minus_finger_midpoint": [
+              0.006317021185210325,
+              0.012535572043313736,
+              0.0
+            ],
+            "finger_gap": 0.028074566647234647,
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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": 1.04856030752204,
+            "object_top_z": 1.0950661082316966,
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+            "object_projection_between_fingers": 0.7974843755483371,
+            "object_to_finger_line_xy": 0.011282450078230246,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049393220470723906,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.558869175661664,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+          "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": 133,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c104ce722c560b2e796a5f556f1a3cb84cac5a50589ef53d8016c88876898148",
+    "visual_seed": 1112031752884785523,
+    "episode_index": 133,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_134_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_134_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..97889a31aa3a44a944cbc9f6866c91085a22111f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_134_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 134,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.29912733096515415,
+              1.0491905753128872
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+            "gripper_z": 1.0478281855701737,
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+              0.29397604139328487,
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+              0.0051512895718692775,
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+              0.2743584524754711,
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+              1.0491905753128872
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+              1.0
+            ],
+            "stable_success_frames": 230,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_gripper_z_dist": 0.0012227866217815464,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+      "physical_semantics": {
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588347251596796,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509525342412382,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15532736758981752,
+            "release_required_pad_clearance": 0.05254762671206191,
+            "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": 0.16312931888329055,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008144140243530273,
+            "max_z_decrease": 0.008144140243530273,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035076551107464146,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008144140243530273,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020956134711845653,
+            "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": 0.008144140243530273,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008144210724490984,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11600785702466963,
+              -0.442277580499649,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11600785702466963,
+              -0.442277580499649,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11711375327433701,
+              -0.44037262159620566,
+              0.803674077904635
+            ],
+            "closest_button": [
+              0.11603204905986785,
+              -0.4422538578510284,
+              0.7686647176742554
+            ],
+            "closest_ee_minus_button": [
+              0.0010817042144691674,
+              0.0018812362548227268,
+              0.035009360230379594
+            ],
+            "button_min_z_position": [
+              0.11603204905986785,
+              -0.4422538578510284,
+              0.7686647176742554
+            ],
+            "min_active_finger_to_button": 0.1441584966198528,
+            "closest_active_finger": [
+              -0.009246841073036194,
+              -0.5047569274902344,
+              0.810662031173706
+            ],
+            "closest_active_finger_button": [
+              0.11601038277149199,
+              -0.4422741532325744,
+              0.7761917114257812
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1252572238445282,
+              -0.06248277425765997,
+              0.034470319747924805
+            ],
+            "min_contact_pad_to_button": 0.020956134711845653,
+            "closest_contact_pad": [
+              0.11603204905986785,
+              -0.4422538578510284,
+              0.789620852386101
+            ],
+            "closest_contact_pad_button": [
+              0.11603204905986785,
+              -0.4422538578510284,
+              0.7686647176742554
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020956134711845653
+            ]
+          },
+          "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": 134,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3026c7a3a9894785b79467e781f1a4a525b6309025dea2d38ca34be285aa3f52",
+    "visual_seed": 9149497817043998721,
+    "episode_index": 134,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_137_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_137_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cb99f2cb415aaf9539af304a1efe9f918e9fc11
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_137_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 137,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3657361557803919,
+              0.2947977666332116,
+              1.04918545647046
+            ],
+            "current_z": 1.04918545647046,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19259888945724957,
+            "gripper_z": 1.0477655718694736,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36021331261545536,
+              0.2896296275060333,
+              1.0477655718694736
+            ],
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+              0.005522843164936564,
+              0.005168139127178284,
+              0.0014198846009862987
+            ],
+            "object_to_gripper_xy": 0.007563825663138835,
+            "object_to_gripper_z": 0.0014198846009862987,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3657361557803919,
+              0.27014667653825014,
+              1.04918545647046
+            ],
+            "finger_b": [
+              0.35331047071058364,
+              0.2947977666332116,
+              1.04918545647046
+            ],
+            "finger_midpoint": [
+              0.3595233132454878,
+              0.2824722215857309,
+              1.04918545647046
+            ],
+            "object_minus_finger_midpoint": [
+              0.006212842534904117,
+              0.012325545047480735,
+              0.0
+            ],
+            "finger_gap": 0.027605685869471965,
+            "fingertip_max_gap": 0.09111313168567911,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01380284293473597,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04918545647046,
+            "object_top_z": 1.0949897385730596,
+            "finger_top_clearance": 0.04580428210259968,
+            "fingertip_min_top_clearance": 0.013741284630779903,
+            "object_projection_between_fingers": 0.797398059414925,
+            "object_to_finger_line_xy": 0.01109578235425022,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04805656584283956,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4236524325424148,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+    "task_island_state_digest": "b921a115acb8d75a178a6297684baf1c9b6a799c79fdde61b1d74a5da2e4d332",
+    "visual_seed": 6100490237865623611,
+    "episode_index": 137,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..50770cba3082dd04992cb607064da8c370fa85b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_13_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.29578259928563383,
+              1.048613103126751
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+              0.27097981648957026,
+              1.048613103126751
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+            "finger_midpoint": [
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+              0.283381207887602,
+              1.048613103126751
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+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                }
+              ],
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+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29364424974181064,
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+              0.2853688414613907,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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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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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_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",
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "ground",
+                "groundplane",
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+              "enabled": true
+            },
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+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008152186870574951,
+            "max_z_decrease": 0.008152186870574951,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502539194203154,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008152186870574951,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021074733727966474,
+            "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": 0.008152186870574951,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00815229070683791,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11039314419031145,
+              -0.4439472258090973,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11039314419031145,
+              -0.4439472258090973,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10841650341688672,
+              -0.4457800547130615,
+              0.8035749928856157
+            ],
+            "closest_button": [
+              0.11042051017284395,
+              -0.4439164996147156,
+              0.7686566710472107
+            ],
+            "closest_ee_minus_button": [
+              -0.00200400675595723,
+              -0.0018635550983459037,
+              0.03491832183840504
+            ],
+            "button_min_z_position": [
+              0.11042051017284395,
+              -0.4439164996147156,
+              0.7686566710472107
+            ],
+            "min_active_finger_to_button": 0.14763031518926506,
+            "closest_active_finger": [
+              -0.032641783356666565,
+              -0.43234652280807495,
+              0.8113991022109985
+            ],
+            "closest_active_finger_button": [
+              0.11039873212575912,
+              -0.44394785165786743,
+              0.7767648696899414
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1430405154824257,
+              0.01160132884979248,
+              0.03463423252105713
+            ],
+            "min_contact_pad_to_button": 0.021074733727966474,
+            "closest_contact_pad": [
+              0.11042051017284395,
+              -0.44673744962842554,
+              0.7895417528695268
+            ],
+            "closest_contact_pad_button": [
+              0.11042051017284395,
+              -0.4439164996147156,
+              0.7686566710472107
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028209500137099663,
+              0.020885081822316076
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af98f5676bf5e31414998557441ce70a5e5dcb92ab18b182102ec8de740a16e4",
+    "visual_seed": 1717272392895479048,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3df8aceeda018ddc81d9b1697105222f0969b2e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3684352483233815,
+              0.2871153099811209,
+              1.049554963996388
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+            "lift_margin": 0.19296851619246713,
+            "gripper_z": 1.0491817639980463,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3624749205838668,
+              0.2818664487246178,
+              1.0491817639980463
+            ],
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+              0.005960327739514659,
+              0.00524886125650309,
+              0.0003731999983416223
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+            "object_to_gripper_z": 0.0003731999983416223,
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+              0.3684352483233815,
+              0.262042423193064,
+              1.049554963996388
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+            "finger_b": [
+              0.3560416984176945,
+              0.2871153099811209,
+              1.049554963996388
+            ],
+            "finger_midpoint": [
+              0.362238473370538,
+              0.2745788665870924,
+              1.049554963996388
+            ],
+            "object_minus_finger_midpoint": [
+              0.006196774952843487,
+              0.012536443394028485,
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+            ],
+            "finger_gap": 0.02796872773565992,
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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": 1.095482817965168,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0489068620784935,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36846545709983286,
+              0.2856011702865384,
+              1.2369946843345463
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+            "held_position": [
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+              0.29046856573635926,
+              1.2372349865225416
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007951817706408043,
+            "max_held_gripper_dist": 0.007952511347264081,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00024030218799531156,
+            "max_held_gripper_z_dist": 0.00038342335721530674,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08926328687972823,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.2646262670890763,
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+              0.27754741641271774,
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+            "held_grasp_object_position": [
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+              0.29046856573635926,
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+            "held_grasp_finger_gap": 0.027986761982959883,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025393647802834502,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.039547340294387445,
+              -0.9990808656703005,
+              0.01653577113784166
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0048615962425637375,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032078502763790095,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26420483220029733,
+              -0.37929337234849764,
+              0.8470195399075906
+            ],
+            "target_position": [
+              0.2565958096992537,
+              -0.38211268617900906,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008114539660159476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18818078608300629,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195399075906,
+            "min_z": 0.5730800627579278,
+            "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": 0.07558238921664623,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572392040200173,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15649467106822035,
+            "release_required_pad_clearance": 0.05286196020100087,
+            "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": 0.766168191329614,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007885515689849854,
+            "max_z_decrease": 0.007885515689849854,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035092640614167676,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007885515689849854,
+            "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": 0.02109502101267422,
+            "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": 0.007885515689849854,
+            "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": 0.007885540575497106,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1122957393527031,
+              -0.43837413191795344,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1122957393527031,
+              -0.43837413191795344,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1108226179488069,
+              -0.43875912241040105,
+              0.8071432284888302
+            ],
+            "closest_button": [
+              0.11228543519973756,
+              -0.43836697936058044,
+              0.7720832824707031
+            ],
+            "closest_ee_minus_button": [
+              -0.0014628172509306564,
+              -0.00039214304982060355,
+              0.03505994601812712
+            ],
+            "button_min_z_position": [
+              0.11227679997682573,
+              -0.4383683204650879,
+              0.7689233422279358
+            ],
+            "min_active_finger_to_button": 0.14754395667462553,
+            "closest_active_finger": [
+              -0.030460253357887268,
+              -0.4245600700378418,
+              0.8110883831977844
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+            "closest_active_finger_button": [
+              0.11229802668094635,
+              -0.4383732080459595,
+              0.7764691710472107
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14275828003883362,
+              0.013813138008117676,
+              0.03461921215057373
+            ],
+            "min_contact_pad_to_button": 0.02109502101267422,
+            "closest_contact_pad": [
+              0.11227679997682573,
+              -0.43969782963880466,
+              0.7899764255385145
+            ],
+            "closest_contact_pad_button": [
+              0.11227679997682573,
+              -0.4383683204650879,
+              0.7689233422279358
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013295091737167697,
+              0.021053083310578757
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4dd6caf06855413b00dc9799aeb5de13fc7071451df71250dceb7ae5ac4d145a",
+    "visual_seed": 1258848591590567357,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f03d6eb7d2e8a05018a590418c329a156f1b5cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_16_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.36754040605973015,
+              0.29342286087870345,
+              1.0510673241037358
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+            "current_z": 1.0510673241037358,
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+            "lift_margin": 0.19448081669517026,
+            "gripper_z": 1.0499746003034327,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.36200657566246874,
+              0.28822913002884754,
+              1.0499746003034327
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+              0.005533830397261408,
+              0.005193730849855915,
+              0.0010927238003031192
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+            "object_to_gripper_xy": 0.007589342462058186,
+            "object_to_gripper_z": 0.0010927238003031192,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36754040605973015,
+              0.2687940629749158,
+              1.0510673241037358
+            ],
+            "finger_b": [
+              0.35503688675618844,
+              0.29342286087870345,
+              1.0510673241037358
+            ],
+            "finger_midpoint": [
+              0.3612886464079593,
+              0.2811084619268096,
+              1.0510673241037358
+            ],
+            "object_minus_finger_midpoint": [
+              0.006251759651770827,
+              0.012314398951893846,
+              0.0
+            ],
+            "finger_gap": 0.027620928318209264,
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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": 1.0510673241037358,
+            "object_top_z": 1.098295389823686,
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+            "fingertip_min_top_clearance": 0.014168419715985092,
+            "object_projection_between_fingers": 0.795078278196613,
+            "object_to_finger_line_xy": 0.011149033315075803,
+            "fingertip_xy_max_dist": 0.055,
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+            ],
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+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009956480797168044,
+              0.021079164085875846
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "625ffb6b1f9ea1cd4e65f0ca7697bcaf232e0c881d241bf50fd01963daadf50a",
+    "visual_seed": 1363603943048468079,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0abcd83627c2b1d3aed98d472db6dfeb469e2b42
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_17_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.37113203101809294,
+              0.29292146064445,
+              1.0515884298268132
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+            "gripper_z": 1.050190786207831,
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+              0.005178734020743647,
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+            "object_to_gripper_z": 0.0013976436189822028,
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+              0.2682532262026527,
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+              0.28058734342355135,
+              1.0515884298268132
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843492212975349,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
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+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
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+                "b_name": "inspection_platform"
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29032160789462297,
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+            "max_held_gripper_dist": 0.007756433146847808,
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+            "max_held_gripper_z_dist": 0.0014081545925774819,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02505077976662156,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003581025542782713,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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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
+      }
+    },
+    {
+      "step_index": 2,
+      "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",
+            "object_position": [
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+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007107968814674836,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18564778343540414,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197706653688,
+            "min_z": 0.5730800627579278,
+            "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": 0.07565641717935025,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564526174898023,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15388076102834947,
+            "release_required_pad_clearance": 0.052822630874490115,
+            "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": 0.6898347092396018,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007729232311248779,
+            "max_z_decrease": 0.007729232311248779,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512683261563965,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007729232311248779,
+            "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": 0.021171745971912754,
+            "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": 0.007729232311248779,
+            "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": 0.007729254790797031,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1072108671069145,
+              -0.4406888782978058,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1072108671069145,
+              -0.4406888782978058,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10532923000111571,
+              -0.44173021745206464,
+              0.8070900644278464
+            ],
+            "closest_button": [
+              0.10719958692789078,
+              -0.4406814277172088,
+              0.7720287442207336
+            ],
+            "closest_ee_minus_button": [
+              -0.001870356926775063,
+              -0.0010487897348558373,
+              0.03506132020711272
+            ],
+            "button_min_z_position": [
+              0.1071931943297386,
+              -0.4406829476356506,
+              0.7690796256065369
+            ],
+            "min_active_finger_to_button": 0.14780187566913577,
+            "closest_active_finger": [
+              -0.03549226373434067,
+              -0.4237815737724304,
+              0.8110986351966858
+            ],
+            "closest_active_finger_button": [
+              0.10721255838871001,
+              -0.44068881869316096,
+              0.7765316963195801
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1427048221230507,
+              0.016907244920730535,
+              0.03456693887710571
+            ],
+            "min_contact_pad_to_button": 0.021171745971912754,
+            "closest_contact_pad": [
+              0.1071931943297386,
+              -0.4430135062406441,
+              0.7901227081774886
+            ],
+            "closest_contact_pad_button": [
+              0.1071931943297386,
+              -0.4406829476356506,
+              0.7690796256065369
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002330558604993538,
+              0.021043082570951777
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b98c68c4ffc311a773e0fe92c5e4920f09fda51da77661dc2938cc1c0f641b1",
+    "visual_seed": 5961132802716190174,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aebb5f8b70c39bc0d2a88c8ef73e324f8f2545d6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36481429314178365,
+              0.2902837147394866,
+              1.0476771170542072
+            ],
+            "current_z": 1.0476771170542072,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19109055004099684,
+            "gripper_z": 1.0481876617287427,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35892899968316283,
+              0.2849742127781815,
+              1.0481876617287427
+            ],
+            "object_minus_gripper": [
+              0.005885293458620822,
+              0.005309501961305085,
+              -0.0005105446745354847
+            ],
+            "object_to_gripper_xy": 0.007926379386024087,
+            "object_to_gripper_z": -0.0005105446745354847,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36481429314178365,
+              0.2652846245359298,
+              1.0476771170542072
+            ],
+            "finger_b": [
+              0.3523026951223809,
+              0.2902837147394866,
+              1.0476771170542072
+            ],
+            "finger_midpoint": [
+              0.3585584941320823,
+              0.27778416963770824,
+              1.0476771170542072
+            ],
+            "object_minus_finger_midpoint": [
+              0.006255799009701357,
+              0.012499545101778364,
+              0.0
+            ],
+            "finger_gap": 0.027955224842678195,
+            "fingertip_max_gap": 0.09127839802017826,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013977612421339061,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476771170542072,
+            "object_top_z": 1.0930091615084665,
+            "finger_top_clearance": 0.04533204445425931,
+            "fingertip_min_top_clearance": 0.013599613336277827,
+            "object_projection_between_fingers": 0.7996914043943262,
+            "object_to_finger_line_xy": 0.011188554885102722,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813919901008913,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3205274859690266,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd864023241e23b88cf5cea478d93e2e5674e981fbc1e71fb5ce04c24c634e3b",
+    "visual_seed": 8179956202679446919,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      1742170454347048747,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9add6d5a0ed024f2ea78ed820e68459a2a7f5465
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_19_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.0051802307191214925,
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+              0.26348327258441373,
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+              1.0493402066887296
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+              0.27576360587292104,
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+            "stable_success_frames": 230,
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_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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+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
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+            ],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008056998252868652,
+            "max_z_decrease": 0.008056998252868652,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035078050267118265,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008056998252868652,
+            "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": 0.02107265317513715,
+            "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": 0.008056998252868652,
+            "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": 0.008057007112878118,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10722414404153821,
+              -0.4446849524974823,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10722414404153821,
+              -0.4446849524974823,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10665405441848042,
+              -0.44466870533892267,
+              0.807354194712719
+            ],
+            "closest_button": [
+              0.10721513628959653,
+              -0.4446786046028137,
+              0.7722806334495544
+            ],
+            "closest_ee_minus_button": [
+              -0.0005610818711161147,
+              9.899263891055554e-06,
+              0.03507356126316452
+            ],
+            "button_min_z_position": [
+              0.10722113400697704,
+              -0.4446733891963958,
+              0.768751859664917
+            ],
+            "min_active_finger_to_button": 0.14670890599955164,
+            "closest_active_finger": [
+              -0.02100411057472229,
+              -0.50705486536026,
+              0.8107894659042358
+            ],
+            "closest_active_finger_button": [
+              0.10722643136978147,
+              -0.4446823298931122,
+              0.7762916684150696
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12823054194450376,
+              -0.06237253546714783,
+              0.03449779748916626
+            ],
+            "min_contact_pad_to_button": 0.02107265317513715,
+            "closest_contact_pad": [
+              0.10722113400697704,
+              -0.445823339662379,
+              0.7897931126163313
+            ],
+            "closest_contact_pad_button": [
+              0.10722113400697704,
+              -0.4446733891963958,
+              0.768751859664917
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011499504659832072,
+              0.021041252951414346
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c8917e4284688d8010166c6edc1adf22270ac3322557439a54055d371f9b4ab",
+    "visual_seed": 8136285754450639618,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..321eb488990a9359358ebdc37c1b7e29a84dfac9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_1_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.37332091370116,
+              0.2985628733144287,
+              1.0508927527667349
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+            "current_z": 1.0508927527667349,
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+            "lift_margin": 0.19430618575352454,
+            "gripper_z": 1.0492892899690103,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36761853027805247,
+              0.2933659139798238,
+              1.0492892899690103
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+            "object_minus_gripper": [
+              0.0057023834231075265,
+              0.0051969593346049,
+              0.0016034627977246085
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+            "object_to_gripper_z": 0.0016034627977246085,
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+              0.37332091370116,
+              0.27373671311029585,
+              1.0508927527667349
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+            "finger_b": [
+              0.3609195730040416,
+              0.2985628733144287,
+              1.0508927527667349
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+              0.3671202433526008,
+              0.2861497932123623,
+              1.0508927527667349
+            ],
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+              0.006200670348559201,
+              0.012413080102066432,
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+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801314289684526,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29704276156047127,
+              1.2393853310926706
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+            "held_position": [
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+              1.2408820696669374
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007879715116773357,
+            "max_held_gripper_dist": 0.007881624385050096,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014967385742667982,
+            "max_held_gripper_z_dist": 0.001617604658435523,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09010363489469364,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
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+              0.2759621775839959,
+              1.2408820696669374
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+              0.28887636470368455,
+              1.2408820696669374
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+            "held_grasp_object_position": [
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+              0.3017905518233732,
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+            "held_grasp_finger_gap": 0.027866723807882375,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02495408891906224,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07620368997876054,
+              -0.9970165711473468,
+              0.012286353861442945
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042346498339964084,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.25830377215642086,
+              -0.3861738981044106,
+              0.8470196921595219
+            ],
+            "target_position": [
+              0.2516557131486712,
+              -0.38860071853207473,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007077156629512268,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18386745123697337,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196921595219,
+            "min_z": 0.5730800627579278,
+            "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": 0.075149690131801,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593658951235032,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533900735290649,
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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": 0.9707493259066892,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00816267728805542,
+            "max_z_decrease": 0.00816267728805542,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035039002326294345,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00816267728805542,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02111785677206022,
+            "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": 0.00816267728805542,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008162719703106528,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10735563933849333,
+              -0.44486218690872187,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10735563933849333,
+              -0.44486218690872187,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1081813516309664,
+              -0.4462958979172633,
+              0.8036452204560782
+            ],
+            "closest_button": [
+              0.10736276209354399,
+              -0.4448368549346923,
+              0.7686461806297302
+            ],
+            "closest_ee_minus_button": [
+              0.0008185895374224067,
+              -0.0014590429825709905,
+              0.034999039826348
+            ],
+            "button_min_z_position": [
+              0.10736276209354399,
+              -0.4448368549346923,
+              0.7686461806297302
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+            "min_active_finger_to_button": 0.14494575994027123,
+            "closest_active_finger": [
+              -0.03269517421722412,
+              -0.4307834804058075,
+              0.8113799691200256
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+            "closest_active_finger_button": [
+              0.10735821723937987,
+              -0.44486105442047114,
+              0.7767946720123291
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.140053391456604,
+              0.01407757401466364,
+              0.03458529710769653
+            ],
+            "min_contact_pad_to_button": 0.02111785677206022,
+            "closest_contact_pad": [
+              0.10736276209354399,
+              -0.447430695045978,
+              0.7896041353992762
+            ],
+            "closest_contact_pad_button": [
+              0.10736276209354399,
+              -0.4448368549346923,
+              0.7686461806297302
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025938401112856613,
+              0.020957954769545983
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "802a8fb682e9b212d45b80dfbcb9403365330f9b5a5c2ea2e1c83f67136e7036",
+    "visual_seed": 1092237211921036335,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1106f8e8598da507b4c8d71265bad7cdef86a73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.2974202963507045,
+              1.0504996744911
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+            "lift_margin": 0.19391322668717914,
+            "gripper_z": 1.050362604118137,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.36535974088208606,
+              0.29217897785845937,
+              1.050362604118137
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+              0.005907041235594823,
+              0.005241318492245128,
+              0.0001370703729628442
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+            "object_to_gripper_xy": 0.007897123254462245,
+            "object_to_gripper_z": 0.0001370703729628442,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3712667821176809,
+              0.27238183847307895,
+              1.0504996744911
+            ],
+            "finger_b": [
+              0.35888704516540093,
+              0.2974202963507045,
+              1.0504996744911
+            ],
+            "finger_midpoint": [
+              0.36507691364154093,
+              0.2849010674118917,
+              1.0504996744911
+            ],
+            "object_minus_finger_midpoint": [
+              0.006189868476139948,
+              0.012519228938812799,
+              0.0
+            ],
+            "finger_gap": 0.027931742872532576,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013965871436266299,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0504996744911,
+            "object_top_z": 1.0965367482531507,
+            "finger_top_clearance": 0.046037073762050795,
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+              0.7689444422721863
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+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021061414356049912
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2af8a0bb537fe517c80d2dad3cb904e2b2ce2f8357ba10ff2eb2b8a2dbb24fb7",
+    "visual_seed": 2589449793978307019,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a38d66e7b746c6a08574abe205fb044192f0c55f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_22_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.29621604858057315,
+              1.0485305667384022
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+              0.29106987739839674,
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+              0.27168923172876763,
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+              0.28395264015467037,
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+              1.0
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+            "stable_success_frames": 229,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
+              {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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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",
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+          "metrics": {
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+              0.2508537219970721,
+              -0.3876999663743228,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008317778839005844,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18841170165282412,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195067926791,
+            "min_z": 0.5730800627579278,
+            "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": 0.07540328716516778,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865933663658821,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15711253496553368,
+            "release_required_pad_clearance": 0.05329668318294105,
+            "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": 1.6115153259235602,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00797271728515625,
+            "max_z_decrease": 0.00797271728515625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514412763888853,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00797271728515625,
+            "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": 0.021081467388602726,
+            "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": 0.00797271728515625,
+            "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": 0.007972745247430435,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10655365139245987,
+              -0.44396141171455383,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10655365139245987,
+              -0.44396141171455383,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10787628085631057,
+              -0.44243804270263465,
+              0.8075206597103921
+            ],
+            "closest_button": [
+              0.10654349625110625,
+              -0.44395503401756287,
+              0.7724345922470093
+            ],
+            "closest_ee_minus_button": [
+              0.0013327846052043207,
+              0.0015169913149282177,
+              0.03508606746338283
+            ],
+            "button_min_z_position": [
+              0.1065332442522049,
+              -0.4439559876918793,
+              0.7688361406326294
+            ],
+            "min_active_finger_to_button": 0.14441524563537836,
+            "closest_active_finger": [
+              -0.020089849829673767,
+              -0.5041899085044861,
+              0.8108515739440918
+            ],
+            "closest_active_finger_button": [
+              0.10655637830495833,
+              -0.4439583122730255,
+              0.7763747572898865
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1266462281346321,
+              -0.06023159623146057,
+              0.03447681665420532
+            ],
+            "min_contact_pad_to_button": 0.021081467388602726,
+            "closest_contact_pad": [
+              0.1065332442522049,
+              -0.4439559876918793,
+              0.7899176080212321
+            ],
+            "closest_contact_pad_button": [
+              0.1065332442522049,
+              -0.4439559876918793,
+              0.7688361406326294
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021081467388602726
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3ade417e2114a9646a7096d2814e5f11c994be1cf2424d7df0355888d6adb3e8",
+    "visual_seed": 2303634268545725555,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86b3b0d1031b84e728857dfe0c0d3cf57726cdcc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_23_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3709005365897202,
+              0.29082138721348605,
+              1.050667965146557
+            ],
+            "current_z": 1.050667965146557,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1940815769472809,
+            "gripper_z": 1.0501978762043198,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36491671374973744,
+              0.28550448897725,
+              1.0501978762043198
+            ],
+            "object_minus_gripper": [
+              0.0059838228399827775,
+              0.005316898236236045,
+              0.0004700889422371013
+            ],
+            "object_to_gripper_xy": 0.00800472002226121,
+            "object_to_gripper_z": 0.0004700889422371013,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3709005365897202,
+              0.26581160745705246,
+              1.050667965146557
+            ],
+            "finger_b": [
+              0.3583075812017574,
+              0.29082138721348605,
+              1.050667965146557
+            ],
+            "finger_midpoint": [
+              0.36460405889573877,
+              0.27831649733526925,
+              1.050667965146557
+            ],
+            "object_minus_finger_midpoint": [
+              0.00629647769398145,
+              0.012504889878216796,
+              0.0
+            ],
+            "finger_gap": 0.02800127870059755,
+            "fingertip_max_gap": 0.09352128977911886,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014000639350298787,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050667965146557,
+            "object_top_z": 1.0968134410645782,
+            "finger_top_clearance": 0.04614547591802132,
+            "fingertip_min_top_clearance": 0.013843642775406395,
+            "object_projection_between_fingers": 0.7977448442087242,
+            "object_to_finger_line_xy": 0.011247594943898891,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04926064488955943,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7513150970305496,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
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+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
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+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c221258ab2f6105ca35e1a99b9737502ddf6662eca86061a7ae2ae583ff04cb8",
+    "visual_seed": 7573358796722806883,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ddc601157d334cc30e5b307d7b2c6f30fa79c1b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "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",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "release_required_pad_clearance": 0.052894104732252506,
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.8280292185658917,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008116185665130615,
+            "max_z_decrease": 0.008116185665130615,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511582655119895,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008116185665130615,
+            "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": 0.020985933913439947,
+            "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": 0.008116185665130615,
+            "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": 0.008116218836228347,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11576054245233533,
+              -0.44237634539604187,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11576054245233533,
+              -0.44237634539604187,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1169500183049677,
+              -0.44050004309897434,
+              0.803739618831871
+            ],
+            "closest_button": [
+              0.1157727092504501,
+              -0.44235658645629883,
+              0.768692672252655
+            ],
+            "closest_ee_minus_button": [
+              0.0011773090545176002,
+              0.0018565433573244916,
+              0.03504694657921592
+            ],
+            "button_min_z_position": [
+              0.1157727092504501,
+              -0.44235658645629883,
+              0.768692672252655
+            ],
+            "min_active_finger_to_button": 0.1440921535403325,
+            "closest_active_finger": [
+              -0.00995904952287674,
+              -0.5037766098976135,
+              0.8106711506843567
+            ],
+            "closest_active_finger_button": [
+              0.11576286703348157,
+              -0.4423730671405792,
+              0.7762305736541748
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1257219165563583,
+              -0.0614035427570343,
+              0.034440577030181885
+            ],
+            "min_contact_pad_to_button": 0.020985933913439947,
+            "closest_contact_pad": [
+              0.1157727092504501,
+              -0.44235658645629883,
+              0.789678606166095
+            ],
+            "closest_contact_pad_button": [
+              0.1157727092504501,
+              -0.44235658645629883,
+              0.768692672252655
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020985933913439947
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6d5209294ff683071f4a7a4bd7589d3173eeedfc4781e3510090ce9176ee1544",
+    "visual_seed": 1957877945303595204,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a84992ef0db4932a898fdc21f106679ad5acadee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3658127469089366,
+              0.2920952631158401,
+              1.0487365139116478
+            ],
+            "current_z": 1.0487365139116478,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.19215000650308212,
+            "gripper_z": 1.0483213634353545,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35991269445869956,
+              0.28682988277639554,
+              1.0483213634353545
+            ],
+            "object_minus_gripper": [
+              0.005900052450237059,
+              0.00526538033944457,
+              0.00041515047629325785
+            ],
+            "object_to_gripper_xy": 0.007907897889740214,
+            "object_to_gripper_z": 0.00041515047629325785,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3658127469089366,
+              0.26706002880366697,
+              1.0487365139116478
+            ],
+            "finger_b": [
+              0.35339891282092245,
+              0.2920952631158401,
+              1.0487365139116478
+            ],
+            "finger_midpoint": [
+              0.3596058298649295,
+              0.27957764595975354,
+              1.0487365139116478
+            ],
+            "object_minus_finger_midpoint": [
+              0.00620691704400711,
+              0.012517617156086569,
+              0.0
+            ],
+            "finger_gap": 0.027943983857534587,
+            "fingertip_max_gap": 0.09272362054759622,
+            "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": 1.0487365139116478,
+            "object_top_z": 1.0945366554583271,
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+            "fingertip_min_top_clearance": 0.013740042464003798,
+            "object_projection_between_fingers": 0.8026508637607943,
+            "object_to_finger_line_xy": 0.011121651325391807,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048861810273798115,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4598104638355798,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3659932759856991,
+              0.2903605587102332,
+              1.2375406303474026
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+            "held_position": [
+              0.37227224185516494,
+              0.2952162769523067,
+              1.2378399511265954
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007943110534619225,
+            "max_held_gripper_dist": 0.007945195190877762,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002993207791928132,
+            "max_held_gripper_z_dist": 0.0004262425357379751,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08922065835141621,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37227224185516494,
+              0.2693370985781773,
+              1.2378399511265954
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+            "held_grasp_finger_b": [
+              0.36155731233718474,
+              0.2952162769523067,
+              1.2378399511265954
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+            "held_grasp_midpoint": [
+              0.3669147770961748,
+              0.28227668776524195,
+              1.2378399511265954
+            ],
+            "held_grasp_object_position": [
+              0.37227224185516494,
+              0.2952162769523067,
+              1.2378399511265954
+            ],
+            "held_grasp_finger_gap": 0.02800966954277201,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025395022855701627,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.042719251494633625,
+              -0.9989790344492423,
+              0.014695383036784415
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004803636204911604,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03204497976913409,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
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+                "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"
+              ],
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+            },
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.263578871481232,
+              -0.3771054062238615,
+              0.8470196538118852
+            ],
+            "target_position": [
+              0.2558184564957534,
+              -0.3800144165969109,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008287724784121955,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18588104207263162,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196538118852,
+            "min_z": 0.5730800627579278,
+            "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": 0.07545708364163511,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855971805302005,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15465572555724943,
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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": 0.6440672011192111,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008092284202575684,
+            "max_z_decrease": 0.008092284202575684,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035065155436240794,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008092284202575684,
+            "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": 0.02102323269248623,
+            "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": 0.008092284202575684,
+            "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": 0.008092304461364724,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11151838302612303,
+              -0.4362758696079254,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11151838302612303,
+              -0.4362758696079254,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11166784175453848,
+              -0.4353554064572328,
+              0.8037698042913023
+            ],
+            "closest_button": [
+              0.11152158677577971,
+              -0.4362580478191376,
+              0.76871657371521
+            ],
+            "closest_ee_minus_button": [
+              0.00014625497875876692,
+              0.0009026413619047657,
+              0.03505323057609233
+            ],
+            "button_min_z_position": [
+              0.11152158677577971,
+              -0.4362580478191376,
+              0.76871657371521
+            ],
+            "min_active_finger_to_button": 0.14542664653098417,
+            "closest_active_finger": [
+              -0.014766544103622437,
+              -0.4995953440666199,
+              0.8110977411270142
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+            "closest_active_finger_button": [
+              0.11152091622352599,
+              -0.4362729191780091,
+              0.7765918374061584
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12628746032714844,
+              -0.06332242488861078,
+              0.03450590372085571
+            ],
+            "min_contact_pad_to_button": 0.02102323269248623,
+            "closest_contact_pad": [
+              0.11152158677577971,
+              -0.4364227119241322,
+              0.7897391615334342
+            ],
+            "closest_contact_pad_button": [
+              0.11152158677577971,
+              -0.4362580478191376,
+              0.76871657371521
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00016466410499460515,
+              0.021022587818224192
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e2dfa55c0057ba80d3d46f55367cf61a5766dd3f9b8c6ec00f7a3be5ca4ce069",
+    "visual_seed": 1904205664328631998,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff269915b1c32aa768cfd5455c991b17e8de9f5d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_27_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.29493029421997763,
+              1.0507532930759758
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+            "current_z": 1.0507532930759758,
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+            "lift_margin": 0.1941667856674104,
+            "gripper_z": 1.0493533482338369,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.36612406541002696,
+              0.2897074550703642,
+              1.0493533482338369
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+              0.0056594429464826845,
+              0.005222839149613412,
+              0.0013999448421389005
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+            "object_to_gripper_xy": 0.007701126102540274,
+            "object_to_gripper_z": 0.0013999448421389005,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37178350835650964,
+              0.2701762868943658,
+              1.0507532930759758
+            ],
+            "finger_b": [
+              0.3592848693053487,
+              0.29493029421997763,
+              1.0507532930759758
+            ],
+            "finger_midpoint": [
+              0.36553418883092914,
+              0.2825532905571717,
+              1.0507532930759758
+            ],
+            "object_minus_finger_midpoint": [
+              0.006249319525580499,
+              0.012377003662805919,
+              0.0
+            ],
+            "finger_gap": 0.02773043196215396,
+            "fingertip_max_gap": 0.09314318651394274,
+            "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": 1.0507532930759758,
+            "object_top_z": 1.0976004583488308,
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+            "closest_contact_pad": [
+              0.10791224241256714,
+              -0.43880235574864374,
+              0.7898041067947175
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+              0.10791224241256714,
+              -0.43807050585746765,
+              0.7687552571296692
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000731849891176084,
+              0.021048849665048275
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62832c2fa1bb5776c6715e8ca2082c27d63321b922402110482ee7075ae8c1cb",
+    "visual_seed": 6376939768884712020,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4d5ca36e493518a6755203e5a3dfbef4287039b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2997063841005686,
+              1.050221114461351
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+            "gripper_z": 1.0499467724897096,
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+              0.3656723963978318,
+              0.2944278903986456,
+              1.0499467724897096
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+              0.005278493701923015,
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+            "object_to_gripper_z": 0.0002743419716413342,
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+              0.2745900624563353,
+              1.050221114461351
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+              0.28714822327845196,
+              1.050221114461351
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+            "last_frame": {
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+              "source_missing": false,
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+                },
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+              ],
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+            },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.0079944990323547,
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+            "held_gripper_z_dist": 0.0001388209606323354,
+            "max_held_gripper_z_dist": 0.00028613324009052477,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.27732851997441843,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.2553043919254139,
+              -0.3803478256440426,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009568983726603756,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18942358664286277,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191768742752,
+            "min_z": 0.5730800627579278,
+            "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": 0.07588264654672108,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08687079781956412,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1573221635844158,
+            "release_required_pad_clearance": 0.053435398909782064,
+            "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": 1.8838152234123695,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007997453212738037,
+            "max_z_decrease": 0.007997453212738037,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035123212572970804,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007997453212738037,
+            "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": 0.021084817173781967,
+            "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": 0.007997453212738037,
+            "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": 0.007997476134394879,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11100431531667708,
+              -0.43660929799079895,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11100431531667708,
+              -0.43660929799079895,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11132970350069668,
+              -0.4350343490979859,
+              0.8074561989600613
+            ],
+            "closest_button": [
+              0.11099373549222945,
+              -0.4366025924682617,
+              0.7723696231842041
+            ],
+            "closest_ee_minus_button": [
+              0.00033596800846723285,
+              0.0015682433702758347,
+              0.035086575775857165
+            ],
+            "button_min_z_position": [
+              0.11098545044660567,
+              -0.4366060197353363,
+              0.7688114047050476
+            ],
+            "min_active_finger_to_button": 0.14526499656364023,
+            "closest_active_finger": [
+              -0.016815893352031708,
+              -0.49641960859298706,
+              0.8105089068412781
+            ],
+            "closest_active_finger_button": [
+              0.11100613325834273,
+              -0.4366059899330139,
+              0.7760737538337708
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12782202661037445,
+              -0.059813618659973145,
+              0.034435153007507324
+            ],
+            "min_contact_pad_to_button": 0.021084817173781967,
+            "closest_contact_pad": [
+              0.11098545044660567,
+              -0.4366060197353363,
+              0.7898962218788296
+            ],
+            "closest_contact_pad_button": [
+              0.11098545044660567,
+              -0.4366060197353363,
+              0.7688114047050476
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021084817173781967
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "062e1d2d83391c64ff29752442c5d916264b112a522c183627b7531d8a9d24c6",
+    "visual_seed": 3719100328122742362,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f486cc014b8a033f012ceed876ff6427e7924db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3660623357469119,
+              0.29750008823614643,
+              1.051253626656808
+            ],
+            "current_z": 1.051253626656808,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19466705964359765,
+            "gripper_z": 1.050817264634234,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3600766767058463,
+              0.29224785832498734,
+              1.050817264634234
+            ],
+            "object_minus_gripper": [
+              0.005985659041065572,
+              0.00525222991115909,
+              0.0004363620225740217
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+            "object_to_gripper_xy": 0.007963292861346005,
+            "object_to_gripper_z": 0.0004363620225740217,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3660623357469119,
+              0.27238052102149723,
+              1.051253626656808
+            ],
+            "finger_b": [
+              0.3536989214219264,
+              0.29750008823614643,
+              1.051253626656808
+            ],
+            "finger_midpoint": [
+              0.35988062858441916,
+              0.2849403046288218,
+              1.051253626656808
+            ],
+            "object_minus_finger_midpoint": [
+              0.006181707162492722,
+              0.012559783607324626,
+              0.0
+            ],
+            "finger_gap": 0.027997261845090056,
+            "fingertip_max_gap": 0.09236147479168741,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01399863092254504,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051253626656808,
+            "object_top_z": 1.097049336555009,
+            "finger_top_clearance": 0.04579570989820092,
+            "fingertip_min_top_clearance": 0.013738712969460243,
+            "object_projection_between_fingers": 0.8049950080021924,
+            "object_to_finger_line_xy": 0.011092642518307319,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868073739584371,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2150491785937718,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fe19be80db040bc42db75e0e10cbc781bc937c350782b37f8a2619cea2a2a480",
+    "visual_seed": 4089345514318597616,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b300b388e9d0788690a8e7040569b61b17b95d99
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+          "failure_messages": {},
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
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+          "metrics": {
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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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+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+      "reason": "executed",
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+            "placed_release_frames": 151,
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "held_object": "beaker_b",
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+                "beaker_b",
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
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+                "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",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
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+                "panda_joint2",
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+                "panda_joint6",
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+                "ridgebase",
+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "caster",
+                "defaultgroundplane",
+                "desk",
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+              "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": 3,
+      "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": 0.008096039295196533,
+            "max_z_decrease": 0.008096039295196533,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350951702879234,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008096039295196533,
+            "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": 0.021008887435001844,
+            "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": 0.008096039295196533,
+            "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": 0.008096062882034799,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11344984173774715,
+              -0.44182980060577404,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11344984173774715,
+              -0.44182980060577404,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11298249343272271,
+              -0.4401044499690591,
+              0.8037632355053526
+            ],
+            "closest_button": [
+              0.11345686018466947,
+              -0.44181156158447277,
+              0.7687128186225891
+            ],
+            "closest_ee_minus_button": [
+              -0.0004743667519467587,
+              0.0017071116154136479,
+              0.03505041688276345
+            ],
+            "button_min_z_position": [
+              0.11345686018466947,
+              -0.44181156158447277,
+              0.7687128186225891
+            ],
+            "min_active_finger_to_button": 0.14562286306351718,
+            "closest_active_finger": [
+              -0.012828953564167023,
+              -0.5055942535400391,
+              0.8102153539657593
+            ],
+            "closest_active_finger_button": [
+              0.11345364898443218,
+              -0.4418254494667054,
+              0.7756862044334412
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1262826025485992,
+              -0.06376880407333368,
+              0.034529149532318115
+            ],
+            "min_contact_pad_to_button": 0.021008887435001844,
+            "closest_contact_pad": [
+              0.11345686018466947,
+              -0.44181156158447277,
+              0.789721706057591
+            ],
+            "closest_contact_pad_button": [
+              0.11345686018466947,
+              -0.44181156158447277,
+              0.7687128186225891
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021008887435001844
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20c3af05bd76fdb521fd9d7640724c17504ece31962945662b46ae09cc909c4b",
+    "visual_seed": 8690978944406128197,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ead697bf9343d5d678025fa274a5cf296127b1a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36527001946926485,
+              0.2894090733289576,
+              1.0475579120373861
+            ],
+            "current_z": 1.0475579120373861,
+            "required_z": 0.8565865074085653,
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+            "lift_margin": 0.19097140462882078,
+            "gripper_z": 1.0471229445232337,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3593853564014642,
+              0.2841526163979793,
+              1.0471229445232337
+            ],
+            "object_minus_gripper": [
+              0.005884663067800666,
+              0.005256456930978315,
+              0.00043496751415239565
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+            "object_to_gripper_xy": 0.007890475200440535,
+            "object_to_gripper_z": 0.00043496751415239565,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36527001946926485,
+              0.26437598586174754,
+              1.0475579120373861
+            ],
+            "finger_b": [
+              0.35288098849231764,
+              0.2894090733289576,
+              1.0475579120373861
+            ],
+            "finger_midpoint": [
+              0.35907550398079124,
+              0.2768925295953526,
+              1.0475579120373861
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061945154884736064,
+              0.012516543733605001,
+              0.0
+            ],
+            "finger_gap": 0.027931050046296986,
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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": 0.8032566093358191,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048829113334600285,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4673637999852644,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3653753445796534,
+              0.2877053700496997,
+              1.2347451382947419
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+            "held_position": [
+              0.37161654642516306,
+              0.2925412678504028,
+              1.2350514579402738
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007901413781120232,
+            "max_held_gripper_dist": 0.007903153821867676,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00030631964553196056,
+            "max_held_gripper_z_dist": 0.0004444811038577523,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08921084120442349,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.26666066741288674,
+              1.2350514579402738
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+              0.2925412678504028,
+              1.2350514579402738
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+              0.27960096763164477,
+              1.2350514579402738
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+            "held_grasp_object_position": [
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+              0.2925412678504028,
+              1.2350514579402738
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+            "held_grasp_finger_gap": 0.027971194473064297,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02538346242653047,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044229095931404845,
+              -0.9989240525472697,
+              0.01394719741131267
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004731215713295683,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03203920190767583,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "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",
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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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2663596418528261,
+              -0.3792626567613738,
+              0.8470196712376291
+            ],
+            "target_position": [
+              0.2585672367994265,
+              -0.3822865825269214,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008358570664401337,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18711106627701052,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196712376291,
+            "min_z": 0.5730800627579278,
+            "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": 0.07517041880912748,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626944959614495,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1566182104505419,
+            "release_required_pad_clearance": 0.05313472479807248,
+            "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": 1.294806023593676,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008036792278289795,
+            "max_z_decrease": 0.008036792278289795,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035129510601732326,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008036792278289795,
+            "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": 0.02119122857234745,
+            "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": 0.008036792278289795,
+            "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": 0.008036813392757677,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11426716297864911,
+              -0.4385480284690857,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11426716297864911,
+              -0.4385480284690857,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11542123184972156,
+              -0.43978977313150874,
+              0.807501659414679
+            ],
+            "closest_button": [
+              0.11425676941871642,
+              -0.43854260444641113,
+              0.7724136114120483
+            ],
+            "closest_ee_minus_button": [
+              0.0011644624310051394,
+              -0.0012471686850976105,
+              0.035088048002630656
+            ],
+            "button_min_z_position": [
+              0.11425016075372693,
+              -0.4385409355163574,
+              0.7687720656394958
+            ],
+            "min_active_finger_to_button": 0.14495728574073494,
+            "closest_active_finger": [
+              -0.025731995701789856,
+              -0.4237150549888611,
+              0.8109004497528076
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+            "closest_active_finger_button": [
+              0.11426886171102521,
+              -0.43854472041130066,
+              0.7763684988021851
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14000085741281507,
+              0.014829665422439575,
+              0.03453195095062256
+            ],
+            "min_contact_pad_to_button": 0.02119122857234745,
+            "closest_contact_pad": [
+              0.11425016075372693,
+              -0.44086306068050446,
+              0.7898356812628287
+            ],
+            "closest_contact_pad_button": [
+              0.11425016075372693,
+              -0.4385409355163574,
+              0.7687720656394958
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023221251641470375,
+              0.02106361562333281
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ebc58da9b3d741730a56d2453e7e3bbe6427b9141adb8383b7caa82915df7845",
+    "visual_seed": 2276637677542485823,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5ae2f2ad39c847a139edc855927313016ea8e07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_31_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.2876589874785312,
+              1.0507531896231495
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+            "lift_margin": 0.19416674181922866,
+            "gripper_z": 1.0503198024617264,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3644495533603137,
+              0.28242556877215896,
+              1.0503198024617264
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+              0.005923579242037957,
+              0.005233418706372228,
+              0.0004333871614230489
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+            "object_to_gripper_z": 0.0004333871614230489,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37037313260235166,
+              0.26260205833231853,
+              1.0507531896231495
+            ],
+            "finger_b": [
+              0.35801500488589016,
+              0.2876589874785312,
+              1.0507531896231495
+            ],
+            "finger_midpoint": [
+              0.3641940687441209,
+              0.27513052290542483,
+              1.0507531896231495
+            ],
+            "object_minus_finger_midpoint": [
+              0.006179063858230749,
+              0.012528464573106357,
+              0.0
+            ],
+            "finger_gap": 0.02793873688796069,
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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": 1.0507531896231495,
+            "object_top_z": 1.0966172034112918,
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+            "fingertip_min_top_clearance": 0.013759204136442693,
+            "object_projection_between_fingers": 0.8043446071545841,
+            "object_to_finger_line_xy": 0.011083419118516392,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04890195906518434,
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+              0.0,
+              0.021078469888366147
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7488c5799aab36674dcfdac5a4eee13f07b047e1585ad7ab9d7a9d7569451a2c",
+    "visual_seed": 8745441796455290056,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6df725cbb9ee794c9e8cdca79f11a3ef96bb975
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.292394004206084,
+              1.0490955367001595
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+              0.005258365208030025,
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+            "object_to_gripper_z": 9.366733376658942e-05,
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+              0.26722412865298495,
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+              0.2798090664295345,
+              1.0490955367001595
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_gripper_z_dist": 4.182212348680103e-05,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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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+            "gripper_away_ok": true,
+            "object_z": 0.8470196213591975,
+            "min_z": 0.5730800627579278,
+            "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": 0.07544709348464942,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0869159329033554,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15544367197236694,
+            "release_required_pad_clearance": 0.053457966451677705,
+            "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": 1.9293842676929058,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007814168930053711,
+            "max_z_decrease": 0.007814168930053711,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035085499758604054,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007814168930053711,
+            "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": 0.021143341517244434,
+            "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": 0.007814168930053711,
+            "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": 0.007814195237296994,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10694046318531038,
+              -0.44022583961486816,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10694046318531038,
+              -0.44022583961486816,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10732091785626158,
+              -0.440717323173221,
+              0.807650662348163
+            ],
+            "closest_button": [
+              0.10693199187517168,
+              -0.4402196407318115,
+              0.7725708484649658
+            ],
+            "closest_ee_minus_button": [
+              0.00038892598108990206,
+              -0.0004976824414094638,
+              0.03507981388319714
+            ],
+            "button_min_z_position": [
+              0.10692112892866136,
+              -0.4402197301387787,
+              0.7689946889877319
+            ],
+            "min_active_finger_to_button": 0.14579846324930104,
+            "closest_active_finger": [
+              -0.03379826992750168,
+              -0.42431461811065674,
+              0.8111162781715393
+            ],
+            "closest_active_finger_button": [
+              0.10694295167922975,
+              -0.4402228891849518,
+              0.7765326499938965
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14074122160673141,
+              0.015908271074295044,
+              0.03458362817764282
+            ],
+            "min_contact_pad_to_button": 0.021143341517244434,
+            "closest_contact_pad": [
+              0.10692112892866136,
+              -0.4418321772530779,
+              0.7900764561057517
+            ],
+            "closest_contact_pad_button": [
+              0.10692112892866136,
+              -0.4402197301387787,
+              0.7689946889877319
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001612447114299198,
+              0.02108176711801979
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cdffc55309d0dfcccb27b79bae53df20b8af0d8249d594995a6026d6a4547d3c",
+    "visual_seed": 6893788171505697507,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d73745bcf5713adddb283660e82c554217c7893
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3684246609394127,
+              0.2925791736606754,
+              1.0183459728735271
+            ],
+            "current_z": 1.0183459728735271,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.16175946546496145,
+            "gripper_z": 1.0486383429140897,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3631611714585955,
+              0.2873812884058619,
+              1.0486383429140897
+            ],
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+              0.005263489480817174,
+              0.005197885254813461,
+              -0.03029237004056262
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+            "object_to_gripper_xy": 0.007397454470078221,
+            "object_to_gripper_z": -0.03029237004056262,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3684246609394127,
+              0.2676145899317256,
+              1.0350786219366128
+            ],
+            "finger_b": [
+              0.35653170334769735,
+              0.2925791736606754,
+              1.03514812723391
+            ],
+            "finger_midpoint": [
+              0.362478182143555,
+              0.2800968817962005,
+              1.0351133745852614
+            ],
+            "object_minus_finger_midpoint": [
+              0.00594647879585769,
+              0.01248229186447486,
+              -0.016767401711734298
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+            "finger_gap": 0.027652806584946045,
+            "fingertip_max_gap": 0.10245569961245063,
+            "finger_z_skew": 6.950529729721211e-05,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.016767401711734298,
+            "finger_midpoint_minus_object_z": 0.016767401711734298,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0183459728735271,
+            "object_top_z": 1.066707016710055,
+            "finger_top_clearance": 0.03159364212479354,
+            "fingertip_min_top_clearance": 0.014508313150958352,
+            "object_projection_between_fingers": 0.8150288263311709,
+            "object_to_finger_line_xy": 0.010736836875610565,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05372784980622532,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 6.213331044037814,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
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+    "task_island_state_digest": "157d0e48dd5307de43f1897e7746dc9a14995437540c0d51f760f89766e34d7f",
+    "visual_seed": 7503334319762844624,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d55fd064de0f9790fb351a6216a82370d8226dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              0.2830079912420932,
+              1.0495290852651162
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+            "stable_success_frames": 230,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.2936508629372518,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "ordinary_object_physical_only": true
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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",
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+            "release_required_pad_clearance": 0.0527085420497788,
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.46980406539409464,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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"
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+              "enabled": true
+            },
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+            "forbidden": [],
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+          }
+        },
+        "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": 3,
+      "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": 0.007777750492095947,
+            "max_z_decrease": 0.007777750492095947,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035084946630759443,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007777750492095947,
+            "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": 0.0210941925437629,
+            "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": 0.007777750492095947,
+            "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": 0.007777771016879921,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10986546427011493,
+              -0.43746551871299744,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10986546427011493,
+              -0.43746551871299744,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1085688390634367,
+              -0.4376596301918217,
+              0.8070636375767257
+            ],
+            "closest_button": [
+              0.10985563695430758,
+              -0.4374580979347229,
+              0.7720028758049011
+            ],
+            "closest_ee_minus_button": [
+              -0.0012867978908708833,
+              -0.00020153225709879097,
+              0.0350607617718246
+            ],
+            "button_min_z_position": [
+              0.10984810441732411,
+              -0.43746128678321833,
+              0.7690311074256897
+            ],
+            "min_active_finger_to_button": 0.14737569819270177,
+            "closest_active_finger": [
+              -0.032627321779727936,
+              -0.4227536916732788,
+              0.8111355900764465
+            ],
+            "closest_active_finger_button": [
+              0.10986735671758655,
+              -0.4374648630619049,
+              0.7765170335769653
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14249467849731448,
+              0.014711171388626099,
+              0.0346185564994812
+            ],
+            "min_contact_pad_to_button": 0.0210941925437629,
+            "closest_contact_pad": [
+              0.10984810441732411,
+              -0.43864963618597796,
+              0.7900918003100728
+            ],
+            "closest_contact_pad_button": [
+              0.10984810441732411,
+              -0.43746128678321833,
+              0.7690311074256897
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011883494027596364,
+              0.02106069288438306
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fabbbff14ea99ccaf2c7d6b5c8798f8b763bc568c5b58bb84838f2e0946e5f49",
+    "visual_seed": 486549199907915041,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9496fac4f59669c25d7baccbc8796ec83595c317
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_36_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3678618978326052,
+              0.29187219679191023,
+              1.0487394941028108
+            ],
+            "current_z": 1.0487394941028108,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.19215292708960063,
+            "gripper_z": 1.0482532277403065,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3618843965169173,
+              0.2865979801645664,
+              1.0482532277403065
+            ],
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+              0.005977501315687916,
+              0.005274216627343842,
+              0.0004862663625042618
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+            "object_to_gripper_xy": 0.007971692606416848,
+            "object_to_gripper_z": 0.0004862663625042618,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3678618978326052,
+              0.2668204662753109,
+              1.0487394941028108
+            ],
+            "finger_b": [
+              0.3553883279982488,
+              0.29187219679191023,
+              1.0487394941028108
+            ],
+            "finger_midpoint": [
+              0.361625112915427,
+              0.27934633153361055,
+              1.0487394941028108
+            ],
+            "object_minus_finger_midpoint": [
+              0.0062367849171782175,
+              0.012525865258299684,
+              0.0
+            ],
+            "finger_gap": 0.02798533805922092,
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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": 1.0487394941028108,
+            "object_top_z": 1.0947537610940632,
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+            "object_projection_between_fingers": 0.8013354350025359,
+            "object_to_finger_line_xy": 0.011166008050680595,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049042676653832176,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5777086504227706,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36786195354258744,
+              0.2901718876339324,
+              1.2386137092288232
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+            "held_position": [
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+              0.2950403215782239,
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007985740056227333,
+            "max_held_gripper_dist": 0.007987346543897546,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00039118294869533443,
+            "max_held_gripper_z_dist": 0.0005079058535353287,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08957484871161475,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3741799730959249,
+              0.26917510045299603,
+              1.2390048921775185
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+            "held_grasp_finger_b": [
+              0.36334837682898563,
+              0.2950403215782239,
+              1.2390048921775185
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+            "held_grasp_midpoint": [
+              0.3687641749624553,
+              0.28210771101560994,
+              1.2390048921775185
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+            "held_grasp_object_position": [
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+              0.2950403215782239,
+              1.2390048921775185
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+            "held_grasp_finger_gap": 0.028041632291058,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0254066577428521,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04008160945664035,
+              -0.9990560463065787,
+              0.01674756464781646
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0048979579210002,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03206274828302126,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2646498141039961,
+              -0.3770111414215731,
+              0.8470196174511967
+            ],
+            "target_position": [
+              0.25763591501310473,
+              -0.3796565426137591,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007496194229395699,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18503039621445116,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196174511967,
+            "min_z": 0.5730800627579278,
+            "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": 0.07543468398179244,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595444065345793,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15391045559131503,
+            "release_required_pad_clearance": 0.05297722032672897,
+            "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": 0.9891201166738246,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0080605149269104,
+            "max_z_decrease": 0.0080605149269104,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035115646640314226,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0080605149269104,
+            "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": 0.02105508123912617,
+            "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": 0.0080605149269104,
+            "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": 0.008060527610129917,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11333584040403365,
+              -0.43591800332069397,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11333584040403365,
+              -0.43591800332069397,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11449891469566872,
+              -0.43514493014493544,
+              0.8074112293129048
+            ],
+            "closest_button": [
+              0.11332464963197707,
+              -0.4359121322631836,
+              0.7723236083984375
+            ],
+            "closest_ee_minus_button": [
+              0.0011742650636916568,
+              0.0007672021182481559,
+              0.035087620914467266
+            ],
+            "button_min_z_position": [
+              0.11332677304744719,
+              -0.43590694665908813,
+              0.7687483429908752
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+            "min_active_finger_to_button": 0.1448548091006807,
+            "closest_active_finger": [
+              -0.013252221047878265,
+              -0.4973357021808624,
+              0.8110709190368652
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+            "closest_active_finger_button": [
+              0.11333774775266646,
+              -0.4359151422977448,
+              0.7766411304473877
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12658996880054474,
+              -0.06142055988311762,
+              0.03442978858947754
+            ],
+            "min_contact_pad_to_button": 0.02105508123912617,
+            "closest_contact_pad": [
+              0.11332677304744719,
+              -0.43629958889154413,
+              0.7897997628494856
+            ],
+            "closest_contact_pad_button": [
+              0.11332677304744719,
+              -0.43590694665908813,
+              0.7687483429908752
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003926422324559975,
+              0.021051419858610365
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2bf1f70c3b4f680c80f0bd41f11f4fdac50dfb0455bcad1e14cc9f7d4f7fc325",
+    "visual_seed": 956560335690071049,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c984f3756ad43d3ebfe7e65db20ab67d787d98
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "object_position": [
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+              0.2937671612376153,
+              1.0487375904767129
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+            "lift_margin": 0.19215114267279199,
+            "gripper_z": 1.0474395462840016,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3618817863181016,
+              0.28846756605855794,
+              1.0474395462840016
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+              0.005792049820098066,
+              0.00529959517905737,
+              0.0012980441927112896
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+            "object_to_gripper_xy": 0.007850703801595508,
+            "object_to_gripper_z": 0.0012980441927112896,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36767383613819965,
+              0.26892853454856697,
+              1.0487375904767129
+            ],
+            "finger_b": [
+              0.35505458737339374,
+              0.2937671612376153,
+              1.0487375904767129
+            ],
+            "finger_midpoint": [
+              0.3613642117557967,
+              0.28134784789309114,
+              1.0487375904767129
+            ],
+            "object_minus_finger_midpoint": [
+              0.006309624382402956,
+              0.012419313344524174,
+              0.0
+            ],
+            "finger_gap": 0.027860416636977282,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013930208318488641,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487375904767129,
+            "object_top_z": 1.0953098620397999,
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+            "object_projection_between_fingers": 0.7948404253727114,
+            "object_to_finger_line_xy": 0.011250542777211494,
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+            ]
+          },
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+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "037b92d48f565c2743e0e3b6a24bae7e89b7771b532f1e37f0b8b6a3b1e3af4b",
+    "visual_seed": 8330194685696736894,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83154a4c69058731e28755255fe6294b846e83c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.29152384168896445,
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+              0.005209416403343103,
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+              0.2791764595536802,
+              1.0512948064238767
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+            "stable_success_frames": 231,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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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+            "object_z": 0.8470195362818969,
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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",
+            "release_finger_gap": 0.07552249024473942,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08601737809355521,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15450465786963913,
+            "release_required_pad_clearance": 0.05300868904677761,
+            "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": 1.0497732729294695,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008030891418457031,
+            "max_z_decrease": 0.008030891418457031,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508877976720144,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008030891418457031,
+            "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": 0.021093861689448924,
+            "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": 0.008030891418457031,
+            "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": 0.008030910050430497,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1136551275849342,
+              -0.4356958568096161,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1136551275849342,
+              -0.4356958568096161,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11234287279840613,
+              -0.43621442845472486,
+              0.8074863676861279
+            ],
+            "closest_button": [
+              0.11364405602216716,
+              -0.4356894791126251,
+              0.772425651550293
+            ],
+            "closest_ee_minus_button": [
+              -0.001301183223761035,
+              -0.0005249493420997342,
+              0.035060716135834946
+            ],
+            "button_min_z_position": [
+              0.11363866180181502,
+              -0.4356905519962311,
+              0.7687779664993286
+            ],
+            "min_active_finger_to_button": 0.14742008342158164,
+            "closest_active_finger": [
+              -0.02874678373336792,
+              -0.41949254274368286,
+              0.8111835718154907
+            ],
+            "closest_active_finger_button": [
+              0.11365698277950284,
+              -0.4356955289840698,
+              0.7766681909561157
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14240376651287076,
+              0.016202986240386963,
+              0.034515380859375
+            ],
+            "min_contact_pad_to_button": 0.021093861689448924,
+            "closest_contact_pad": [
+              0.11363866180181502,
+              -0.4373762680367133,
+              0.7898043632996475
+            ],
+            "closest_contact_pad_button": [
+              0.11363866180181502,
+              -0.4356905519962311,
+              0.7687779664993286
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016857160404822324,
+              0.021026396800318925
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a19f458f1fecc70b32947d7e0e9c21aac581775e754fffd885fafc029109990",
+    "visual_seed": 6669858208040475770,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4912bae20c9662e4aa58cd203c67c2f453e4e0f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_3_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.37149960436802554,
+              0.2883545385766151,
+              1.0487774067281268
+            ],
+            "current_z": 1.0487774067281268,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19219089931956124,
+            "gripper_z": 1.0474672570067491,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3658255870087008,
+              0.28316654724845197,
+              1.0474672570067491
+            ],
+            "object_minus_gripper": [
+              0.005674017359324712,
+              0.005187991328163111,
+              0.0013101497213776625
+            ],
+            "object_to_gripper_xy": 0.007688285050322589,
+            "object_to_gripper_z": 0.0013101497213776625,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37149960436802554,
+              0.2636010353763408,
+              1.0487774067281268
+            ],
+            "finger_b": [
+              0.35901908508581587,
+              0.2883545385766151,
+              1.0487774067281268
+            ],
+            "finger_midpoint": [
+              0.3652593447269207,
+              0.2759777869764779,
+              1.0487774067281268
+            ],
+            "object_minus_finger_midpoint": [
+              0.006240259641104862,
+              0.012376751600137181,
+              0.0
+            ],
+            "finger_gap": 0.027721819605494833,
+            "fingertip_max_gap": 0.09190793290004287,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013860909802747453,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487774067281268,
+            "object_top_z": 1.0950378613639868,
+            "finger_top_clearance": 0.04626045463586004,
+            "fingertip_min_top_clearance": 0.013878136390757977,
+            "object_projection_between_fingers": 0.7973148900026631,
+            "object_to_finger_line_xy": 0.01114416652260546,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845396645002144,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7199438901841599,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82eb7871074a0c0061a60297a54622ae463f172efe54dcd1497c9081210f8c6e",
+    "visual_seed": 588105609308308941,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37c97d6bb6608c2df352a7767f8a1dbe9a18be3a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_42_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.2940355942945905,
+              1.0492400689243078
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+              0.005305240677041911,
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+            "object_to_gripper_z": 0.001560091031686417,
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+              0.26902991189116326,
+              1.0492400689243078
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+              1.0492400689243078
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+              0.28153275309287684,
+              1.0492400689243078
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+            "stable_success_frames": 230,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
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+            ],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
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+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29193227521186876,
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+              0.28370563426455875,
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+              0.29673308301497436,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9977215613197596,
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+            "release_min_pad_clearance": 0.15472352196142983,
+            "release_required_pad_clearance": 0.053640682288205205,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.2882991215596915,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "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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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00813901424407959,
+            "max_z_decrease": 0.00813901424407959,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035017347507511905,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00813901424407959,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021048739610571365,
+            "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": 0.00813901424407959,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00813908263526602,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11387436091899869,
+              -0.4432778656482696,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11387436091899869,
+              -0.4432778656482696,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11467315360028901,
+              -0.44418469799750354,
+              0.8036661334437393
+            ],
+            "closest_button": [
+              0.11389558017253874,
+              -0.44325211644172663,
+              0.768669843673706
+            ],
+            "closest_ee_minus_button": [
+              0.0007775734277502694,
+              -0.0009325815557769124,
+              0.03499628977003322
+            ],
+            "button_min_z_position": [
+              0.11389558017253874,
+              -0.44325211644172663,
+              0.768669843673706
+            ],
+            "min_active_finger_to_button": 0.14496693977313854,
+            "closest_active_finger": [
+              -0.026012614369392395,
+              -0.4272695481777191,
+              0.8112963438034058
+            ],
+            "closest_active_finger_button": [
+              0.11387705057859418,
+              -0.4432758390903473,
+              0.7767986059188843
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13988966494798658,
+              0.016006290912628174,
+              0.034497737884521484
+            ],
+            "min_contact_pad_to_button": 0.021048739610571365,
+            "closest_contact_pad": [
+              0.11389558017253874,
+              -0.44544509786634623,
+              0.7896040327352606
+            ],
+            "closest_contact_pad_button": [
+              0.11389558017253874,
+              -0.44325211644172663,
+              0.768669843673706
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021929814246196,
+              0.02093418906155453
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "194d01683d934a6059b3434956101b3441d087d04ce360e5fd89769ca0b1a820",
+    "visual_seed": 7099376400322850985,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32a363d10ca57513adb5ae79a5748cdf499c9899
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_43_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.2933440484009381,
+              1.0504654916738472
+            ],
+            "current_z": 1.0504654916738472,
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+            "lift_margin": 0.19387886505599206,
+            "gripper_z": 1.0499774443500374,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3638385989678603,
+              0.28801685361496293,
+              1.0499774443500374
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+              0.006051986443172452,
+              0.005327194785975153,
+              0.00048804732380980376
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+            "object_to_gripper_z": 0.00048804732380980376,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.36989058541103276,
+              0.26825821038321745,
+              1.0504654916738472
+            ],
+            "finger_b": [
+              0.35731625083566243,
+              0.2933440484009381,
+              1.0504654916738472
+            ],
+            "finger_midpoint": [
+              0.3636034181233476,
+              0.2808011293920778,
+              1.0504654916738472
+            ],
+            "object_minus_finger_midpoint": [
+              0.006287167287685136,
+              0.012542919008860287,
+              0.0
+            ],
+            "finger_gap": 0.02806088307706426,
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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": 0.7991983138798834,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0493022760912875,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6110453397327358,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
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+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3698962416738587,
+              0.2920524015978267,
+              1.2374777228479155
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+            "held_position": [
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008076606173674956,
+            "max_held_gripper_dist": 0.008078421450770768,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00035773049628518017,
+            "max_held_gripper_z_dist": 0.000496895036535161,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08959541539864385,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.2710675022528954,
+              1.2378354533442006
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+            "held_grasp_finger_b": [
+              0.36544470830776604,
+              0.29696428416039405,
+              1.2378354533442006
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+              0.2840158932066447,
+              1.2378354533442006
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+            "held_grasp_object_position": [
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+              0.29696428416039405,
+              1.2378354533442006
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+            "held_grasp_finger_gap": 0.02807895871765652,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02541879246814123,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04147218470983267,
+              -0.9989227406797871,
+              0.020818646646126534
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004892325928198598,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03204073684205609,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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+                "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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.25772858935274157,
+              -0.3786419116230595,
+              0.8470195186345348
+            ],
+            "target_position": [
+              0.2505580899320766,
+              -0.3816258969083622,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0077666099505935855,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18498207319902696,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195186345348,
+            "min_z": 0.5730800627579278,
+            "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": 0.07565510048958725,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08691226758054028,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533667065694431,
+            "release_required_pad_clearance": 0.053456133790270144,
+            "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": 1.925729656773494,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008024990558624268,
+            "max_z_decrease": 0.008024990558624268,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508660836715381,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008024990558624268,
+            "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": 0.02111472812741588,
+            "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": 0.008024990558624268,
+            "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": 0.008025013406662606,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1062580123543739,
+              -0.4378873407840729,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1062580123543739,
+              -0.4378873407840729,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10698111819842346,
+              -0.4377578210842946,
+              0.8073685191255634
+            ],
+            "closest_button": [
+              0.10624682903289792,
+              -0.43788132071495056,
+              0.7722898125648499
+            ],
+            "closest_ee_minus_button": [
+              0.0007342891655255368,
+              0.00012349963065594327,
+              0.035078706560713546
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+            "button_min_z_position": [
+              0.10623917728662488,
+              -0.43788388371467585,
+              0.7687838673591614
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+            "min_active_finger_to_button": 0.14552363129045187,
+            "closest_active_finger": [
+              -0.020939595997333527,
+              -0.4995989501476288,
+              0.8106451034545898
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+            "closest_active_finger_button": [
+              0.10625866800546645,
+              -0.4378847181797027,
+              0.7761620283126831
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271982640028,
+              -0.06171423196792608,
+              0.03448307514190674
+            ],
+            "min_contact_pad_to_button": 0.02111472812741588,
+            "closest_contact_pad": [
+              0.10623917728662488,
+              -0.43894340446488983,
+              0.7898719957653181
+            ],
+            "closest_contact_pad_button": [
+              0.10623917728662488,
+              -0.43788388371467585,
+              0.7687838673591614
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010595207502139825,
+              0.021088128406156703
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0ca2b09da34d2d2236e3623a83fde6930f63f355ebd52bda45d42604bb8b7a6d",
+    "visual_seed": 5959852666327430529,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d20c835ba3e2d336950fa409288a6f6a2b5c1153
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_46_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.2996009101602789,
+              1.049495806870905
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+            "lift_margin": 0.19290929946233937,
+            "gripper_z": 1.0479096873201885,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3635047924383008,
+              0.2944042088485323,
+              1.0479096873201885
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+              0.005524621087510839,
+              0.005196701311746599,
+              0.0015861195507165249
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+            "object_to_gripper_xy": 0.007584664968479377,
+            "object_to_gripper_z": 0.0015861195507165249,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.36902941352581164,
+              0.27496195093295867,
+              1.049495806870905
+            ],
+            "finger_b": [
+              0.3565453426909843,
+              0.2996009101602789,
+              1.049495806870905
+            ],
+            "finger_midpoint": [
+              0.362787378108398,
+              0.2872814305466188,
+              1.049495806870905
+            ],
+            "object_minus_finger_midpoint": [
+              0.006242035417413638,
+              0.01231947961366009,
+              0.0
+            ],
+            "finger_gap": 0.027621193609519038,
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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": 1.049495806870905,
+            "object_top_z": 1.0958078034674703,
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+            "closest_contact_pad": [
+              0.10893650352954863,
+              -0.445848001021914,
+              0.789570002800305
+            ],
+            "closest_contact_pad_button": [
+              0.10893650352954863,
+              -0.44464194774627686,
+              0.7686035633087158
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012060532756371645,
+              0.02096643949158916
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce1bf90692ac4d963513fa7eb0dbb84850c3baa849b4920fc5dac9cd54d7a9f7",
+    "visual_seed": 6671303746103369605,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..297194d8af7b1b2d687630d1a99b8e9627eb5c82
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_47_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2908222632682707,
+              1.049342507228651
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+            "current_z": 1.049342507228651,
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+            "gripper_z": 1.0487588486921913,
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+              0.005290656898480295,
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+              0.2658005887608932,
+              1.049342507228651
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+            "finger_b": [
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+            "finger_midpoint": [
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+              0.2783114260145819,
+              1.049342507228651
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
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+                "b_name": "inspection_platform"
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2891292871127471,
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+            "held_shake_count": 5,
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+            "max_held_gripper_dist": 0.007969430925562793,
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+            "held_gripper_z_dist": 0.00044321040458661365,
+            "max_held_gripper_z_dist": 0.000593432834788965,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2939913532077129,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9988867165253228,
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+            "held_grasp_object_to_finger_line_xy": 0.004758919346229468,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.25885617030691943,
+              -0.3768907057682844,
+              0.8470198358063743
+            ],
+            "target_position": [
+              0.2510591254935622,
+              -0.3801759880772242,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008460909387940169,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18913255056423803,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198358063743,
+            "min_z": 0.5730800627579278,
+            "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": 0.07549747483393837,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596627632856875,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1577899044841727,
+            "release_required_pad_clearance": 0.05298313816428438,
+            "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": 0.999353749194984,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00804227590560913,
+            "max_z_decrease": 0.00804227590560913,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035092547441456096,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00804227590560913,
+            "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": 0.021153850775248704,
+            "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": 0.00804227590560913,
+            "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": 0.008042285504496078,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10675904899835585,
+              -0.4364374577999115,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10675904899835585,
+              -0.4364374577999115,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10549342878912163,
+              -0.4377870981984692,
+              0.8070029103258269
+            ],
+            "closest_button": [
+              0.10674736648797988,
+              -0.4364308714866638,
+              0.7719590067863464
+            ],
+            "closest_ee_minus_button": [
+              -0.0012539376988582457,
+              -0.0013562267118054083,
+              0.0350439035394805
+            ],
+            "button_min_z_position": [
+              0.1067487448453903,
+              -0.43643051385879517,
+              0.7687665820121765
+            ],
+            "min_active_finger_to_button": 0.1473055144845198,
+            "closest_active_finger": [
+              -0.03575846552848816,
+              -0.42268097400665283,
+              0.8106376528739929
+            ],
+            "closest_active_finger_button": [
+              0.10676158219575882,
+              -0.43643414974212646,
+              0.7760283946990967
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14252004772424698,
+              0.013753175735473633,
+              0.03460925817489624
+            ],
+            "min_contact_pad_to_button": 0.021153850775248704,
+            "closest_contact_pad": [
+              0.1067487448453903,
+              -0.4387945839197225,
+              0.7897879182058755
+            ],
+            "closest_contact_pad_button": [
+              0.1067487448453903,
+              -0.43643051385879517,
+              0.7687665820121765
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023640700609273146,
+              0.021021336193698947
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e16dbcf75cb0ae36f10fd9c74afea9a58637d8162570056c10e533be26982d6a",
+    "visual_seed": 6657496373368375681,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ae447e5a01fddbfd5e71af7ebaf650e7e80a569
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_48_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3706590093758897,
+              0.2934760654508483,
+              1.0514545718362596
+            ],
+            "current_z": 1.0514545718362596,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19486800482304922,
+            "gripper_z": 1.0508956422795055,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3646741246870209,
+              0.28819280589542917,
+              1.0508956422795055
+            ],
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+              0.005984884688868819,
+              0.00528325955541914,
+              0.0005589295567540731
+            ],
+            "object_to_gripper_xy": 0.007983212152322151,
+            "object_to_gripper_z": 0.0005589295567540731,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3706590093758897,
+              0.2684305331139141,
+              1.0514545718362596
+            ],
+            "finger_b": [
+              0.35815878209248575,
+              0.2934760654508483,
+              1.0514545718362596
+            ],
+            "finger_midpoint": [
+              0.3644088957341877,
+              0.2809532992823812,
+              1.0514545718362596
+            ],
+            "object_minus_finger_midpoint": [
+              0.006250113641701971,
+              0.012522766168467092,
+              0.0
+            ],
+            "finger_gap": 0.027991683982518313,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013995841991259157,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0514545718362596,
+            "object_top_z": 1.097779452779014,
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+            "fingertip_min_top_clearance": 0.013897464282826266,
+            "object_projection_between_fingers": 0.8005758423812658,
+            "object_to_finger_line_xy": 0.011184566346242176,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04941117653126824,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.802798617573795,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8929036059364b61ee52dccb19205d63723d583c0c14874703f22702701e4516",
+    "visual_seed": 777864190135218912,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
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+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..64993937f2a02627446162b8b64c5b424a3a9858
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_49_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.2975207947641473,
+              1.0510813853226137
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+              0.2924110817412365,
+              1.0496312646534842
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+              0.0051097130229108,
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+              0.27281814653627406,
+              1.0510813853226137
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+              1.0510813853226137
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+              0.2851694706502107,
+              1.0510813853226137
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+              1.0
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+            "stable_success_frames": 232,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
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+            ],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2947567905212046,
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+              0.2992755053744494,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+            "release_fingertip_min_gap": 0.08591781335745453,
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.05295890667872727,
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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": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007958829402923584,
+            "max_z_decrease": 0.007958829402923584,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035109705439112564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007958829402923584,
+            "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": 0.021057606708688954,
+            "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": 0.007958829402923584,
+            "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": 0.007958854530037009,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11043360084295269,
+              -0.44134035706520086,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11043360084295269,
+              -0.44134035706520086,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10853140134858202,
+              -0.44051429728592967,
+              0.807612477630834
+            ],
+            "closest_button": [
+              0.11042638868093488,
+              -0.44133332371711737,
+              0.7725635170936584
+            ],
+            "closest_ee_minus_button": [
+              -0.0018949873323528543,
+              0.0008190264311876971,
+              0.035048960537175544
+            ],
+            "button_min_z_position": [
+              0.11041451990604398,
+              -0.44133436679840093,
+              0.7688500285148621
+            ],
+            "min_active_finger_to_button": 0.1475250911332045,
+            "closest_active_finger": [
+              -0.017753906548023224,
+              -0.505666196346283,
+              0.8103846311569214
+            ],
+            "closest_active_finger_button": [
+              0.11043633520603176,
+              -0.4413371980190277,
+              0.7758492231369019
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12819024175405497,
+              -0.06432899832725525,
+              0.03453540802001953
+            ],
+            "min_contact_pad_to_button": 0.021057606708688954,
+            "closest_contact_pad": [
+              0.11041451990604398,
+              -0.4413988739029839,
+              0.7899075364189632
+            ],
+            "closest_contact_pad_button": [
+              0.11041451990604398,
+              -0.44133436679840093,
+              0.7688500285148621
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -6.450710458294484e-05,
+              0.021057507904101103
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bcd9fd0256b3b4936daedc74082cc815c56032477c640ce6935ed7d551394af7",
+    "visual_seed": 2158527260152894292,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04414e0fdd2a8eab0c14d03e41586cc1b7345783
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_50_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3650717926801956,
+              0.28715148020794995,
+              1.0516576293663582
+            ],
+            "current_z": 1.0516576293663582,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.19507118156243763,
+            "gripper_z": 1.050372887818146,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35959274431138555,
+              0.28199446576840215,
+              1.050372887818146
+            ],
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+              0.0054790483688100244,
+              0.005157014439547802,
+              0.0012847415482122315
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+            "object_to_gripper_xy": 0.007524278633694018,
+            "object_to_gripper_z": 0.0012847415482122315,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3650717926801956,
+              0.26257495454629615,
+              1.0516576293663582
+            ],
+            "finger_b": [
+              0.3525913711039016,
+              0.28715148020794995,
+              1.0516576293663582
+            ],
+            "finger_midpoint": [
+              0.35883158189204856,
+              0.27486321737712305,
+              1.0516576293663582
+            ],
+            "object_minus_finger_midpoint": [
+              0.006240210788147016,
+              0.012288262830826902,
+              0.0
+            ],
+            "finger_gap": 0.027563862870068703,
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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_top_z": 1.0976854048230773,
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+            "object_projection_between_fingers": 0.7949884401641634,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818823667715498,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6143270442286441,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36635118753270723,
+              0.28431706260992795,
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+            "held_position": [
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007632343370981943,
+            "max_held_gripper_dist": 0.007633178354767983,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001156791307466598,
+            "max_held_gripper_z_dist": 0.0012960518064588644,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08918741544676068,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3723796591027965,
+              0.2628508046557789,
+              1.242477976842687
+            ],
+            "held_grasp_finger_b": [
+              0.36262183237471535,
+              0.2890886821002333,
+              1.242477976842687
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+              0.3675007457387559,
+              0.2759697433780061,
+              1.242477976842687
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+            "held_grasp_object_position": [
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+              0.28885270255729667,
+              1.242477976842687
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+            "held_grasp_finger_gap": 0.02799359561123693,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025005867915837258,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10934324392014592,
+              -0.9937092052927127,
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+                "beaker_b"
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+                "Robotiq2F85",
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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",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint6",
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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",
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+                "table",
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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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2638605031050984,
+              -0.37736913331367533,
+              0.8470191958981232
+            ],
+            "target_position": [
+              0.25706617907497264,
+              -0.37938603224899775,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007087363426666433,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1848177425446854,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191958981232,
+            "min_z": 0.5730800627579278,
+            "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": 0.07542502404512726,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618780514000011,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15353482504964866,
+            "release_required_pad_clearance": 0.05309390257000006,
+            "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": 1.2123884296709693,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008046448230743408,
+            "max_z_decrease": 0.008046448230743408,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035118320574076684,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008046448230743408,
+            "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": 0.02106151594324452,
+            "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": 0.008046448230743408,
+            "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": 0.008046463194035432,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11276610195636748,
+              -0.43564748764038075,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11276610195636748,
+              -0.43564748764038075,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11343007562532101,
+              -0.43440592791382915,
+              0.8074669059792886
+            ],
+            "closest_button": [
+              0.11275489628314969,
+              -0.43564185500144953,
+              0.7723768353462219
+            ],
+            "closest_ee_minus_button": [
+              0.000675179342171317,
+              0.001235927087620381,
+              0.03509007063306668
+            ],
+            "button_min_z_position": [
+              0.11275286972522733,
+              -0.4356393814086913,
+              0.7687624096870422
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+            "min_active_finger_to_button": 0.14509635526355327,
+            "closest_active_finger": [
+              -0.014831878244876862,
+              -0.49554193019866943,
+              0.8110036253929138
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+            "closest_active_finger_button": [
+              0.11276717483997342,
+              -0.4356452226638793,
+              0.7765969634056091
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12759905308485028,
+              -0.05989670753479015,
+              0.03440666198730469
+            ],
+            "min_contact_pad_to_button": 0.02106151594324452,
+            "closest_contact_pad": [
+              0.11275286972522733,
+              -0.43566594018660054,
+              0.7898239088848406
+            ],
+            "closest_contact_pad_button": [
+              0.11275286972522733,
+              -0.4356393814086913,
+              0.7687624096870422
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -2.6558777909246878e-05,
+              0.021061499197798317
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb439ce8a94255ce12de1fd7ac9a0812c9f5d274aea3db9adf460179c5b6115c",
+    "visual_seed": 6813907068579924707,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d4323430c0a36aa3993e913410c37783ba61551
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_51_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3696306902523344,
+              0.2929179451216201,
+              1.049033770010159
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+            "current_z": 1.049033770010159,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19244738181088306,
+            "gripper_z": 1.0476557392491301,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36391758523522,
+              0.2876655452371163,
+              1.0476557392491301
+            ],
+            "object_minus_gripper": [
+              0.005713105017114417,
+              0.005252399884503822,
+              0.0013780307610289366
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+            "object_to_gripper_xy": 0.007760623266420919,
+            "object_to_gripper_z": 0.0013780307610289366,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3696306902523344,
+              0.2681384625988076,
+              1.049033770010159
+            ],
+            "finger_b": [
+              0.3570805420402457,
+              0.2929179451216201,
+              1.049033770010159
+            ],
+            "finger_midpoint": [
+              0.3633556161462901,
+              0.2805282038602138,
+              1.049033770010159
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+            "closest_active_finger": [
+              -0.02887532114982605,
+              -0.42324286699295044,
+              0.8110644817352295
+            ],
+            "closest_active_finger_button": [
+              0.1105392053723335,
+              -0.4390871226787567,
+              0.7765073776245117
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13941452652215955,
+              0.015844255685806274,
+              0.03455710411071777
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+            "closest_contact_pad": [
+              0.1105162352323532,
+              -0.44032860800052703,
+              0.7900082352451101
+            ],
+            "closest_contact_pad_button": [
+              0.1105162352323532,
+              -0.4390849471092224,
+              0.7689263224601746
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001243660891304621,
+              0.02108191278493554
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "80a5f2f0e7e04dea77808150ed26b07ecc0782cf5f621349fd53b6bfa70b72a4",
+    "visual_seed": 8453746580694809257,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a8c9284aae9751dbad97b1aa2a3d19aad27c43a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_52_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.29184469552476977,
+              1.0491688789538889
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+              1.047541625843167
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+              0.005235938736392609,
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+            "object_to_gripper_z": 0.0016272531107219823,
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+              0.2672687613202804,
+              1.0491688789538889
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+            "finger_b": [
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+              1.0491688789538889
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+            "finger_midpoint": [
+              0.36632227416351926,
+              0.2795567284225251,
+              1.0491688789538889
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+              0.012287967102244668,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
+            ],
+            "stable_success_frames": 229,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
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+            ],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
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+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0016391324387869943,
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+            "held_grasp_geometry_checked": true,
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+              1.2401926806990111
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+              0.2942506757590632,
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+            "held_grasp_finger_gap": 0.027823760840126416,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024787477942194127,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9951462746829818,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037961168229049074,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26533692850678775,
+              -0.38174609885203287,
+              0.8470194183775399
+            ],
+            "target_position": [
+              0.25841191112656603,
+              -0.3839509101044258,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007267534545845057,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18492030833242687,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194183775399,
+            "min_z": 0.5730800627579278,
+            "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": 0.07527076578528563,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626683109829798,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15405503752038993,
+            "release_required_pad_clearance": 0.05313341554914899,
+            "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": 1.2917799193645962,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00805521011352539,
+            "max_z_decrease": 0.00805521011352539,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512888873962023,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00805521011352539,
+            "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": 0.02121651173198606,
+            "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": 0.00805521011352539,
+            "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": 0.008055223165207095,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11411184072494504,
+              -0.440212368965149,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11411184072494504,
+              -0.440212368965149,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11465471320302642,
+              -0.4417263481757649,
+              0.8076074752321516
+            ],
+            "closest_button": [
+              0.11410219222307202,
+              -0.44020640850067144,
+              0.7725158333778381
+            ],
+            "closest_ee_minus_button": [
+              0.0005525209799543962,
+              -0.0015199396750934513,
+              0.03509164185431346
+            ],
+            "button_min_z_position": [
+              0.11410427093505857,
+              -0.4402000010013581,
+              0.7687536478042603
+            ],
+            "min_active_finger_to_button": 0.1454960852949013,
+            "closest_active_finger": [
+              -0.026294149458408356,
+              -0.4239078462123871,
+              0.8107905387878418
+            ],
+            "closest_active_finger_button": [
+              0.11411271989345548,
+              -0.4402100741863251,
+              0.7763049006462097
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14040686935186383,
+              0.01630222797393799,
+              0.03448563814163208
+            ],
+            "min_contact_pad_to_button": 0.02121651173198606,
+            "closest_contact_pad": [
+              0.11410427093505857,
+              -0.4429670175405237,
+              0.789788951214135
+            ],
+            "closest_contact_pad_button": [
+              0.11410427093505857,
+              -0.4402000010013581,
+              0.7687536478042603
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002767016539165612,
+              0.021035303409874695
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8223b469b46d78630c618a1400985b64ce790e5daf7251de49610ad0a75bed7f",
+    "visual_seed": 2297046074817387740,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b83747a8bcdc9ebd01ed11fbf2edb3ab256dbafc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_53_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3711972236607533,
+              0.29576700495038627,
+              1.0486123719217957
+            ],
+            "current_z": 1.0486123719217957,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.19202580490858556,
+            "gripper_z": 1.0470459433977264,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36519218558593447,
+              0.2904429454123314,
+              1.0470459433977264
+            ],
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+              0.006005038074818836,
+              0.0053240595380548705,
+              0.0015664285240692966
+            ],
+            "object_to_gripper_xy": 0.008025340631074606,
+            "object_to_gripper_z": 0.0015664285240692966,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3711972236607533,
+              0.27066285828470243,
+              1.0486123719217957
+            ],
+            "finger_b": [
+              0.3586845205640111,
+              0.29576700495038627,
+              1.0486123719217957
+            ],
+            "finger_midpoint": [
+              0.36494087211238224,
+              0.28321493161754435,
+              1.0486123719217957
+            ],
+            "object_minus_finger_midpoint": [
+              0.006256351548371064,
+              0.012552073332841918,
+              0.0
+            ],
+            "finger_gap": 0.028049704429804357,
+            "fingertip_max_gap": 0.09208235241526089,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014024852214902166,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486123719217957,
+            "object_top_z": 1.094535240395873,
+            "finger_top_clearance": 0.04592286847407734,
+            "fingertip_min_top_clearance": 0.013776860542223235,
+            "object_projection_between_fingers": 0.8010033795902971,
+            "object_to_finger_line_xy": 0.01119871813661614,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048541176207630446,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8655571092658821,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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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",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4491488cc6dbb06e30e008b18624247a7041f9db85b688c6ec89756aea79aa62",
+    "visual_seed": 6157465636728388421,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2b596de1b2ae24a8f1c7893471a9cb89b77f469
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_required_pad_clearance": 0.052953018039863645,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.9421074263727965,
+            "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": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00807332992553711,
+            "max_z_decrease": 0.00807332992553711,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514413081547082,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00807332992553711,
+            "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": 0.021192273706802787,
+            "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": 0.00807332992553711,
+            "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": 0.008073342615495116,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10930576175451279,
+              -0.4441680908203125,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10930576175451279,
+              -0.4441680908203125,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10689129948939316,
+              -0.4461352966301853,
+              0.8037405481241447
+            ],
+            "closest_button": [
+              0.10930627584457396,
+              -0.4441537857055664,
+              0.7687355279922485
+            ],
+            "closest_ee_minus_button": [
+              -0.0024149763551808007,
+              -0.001981510924618901,
+              0.035005020131896214
+            ],
+            "button_min_z_position": [
+              0.10930627584457396,
+              -0.4441537857055664,
+              0.7687355279922485
+            ],
+            "min_active_finger_to_button": 0.14803196309963443,
+            "closest_active_finger": [
+              -0.03399275988340378,
+              -0.4306286573410034,
+              0.8108792304992676
+            ],
+            "closest_active_finger_button": [
+              0.10930737853050232,
+              -0.4441666007041931,
+              0.7763067483901978
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1433001384139061,
+              0.013537943363189697,
+              0.034572482109069824
+            ],
+            "min_contact_pad_to_button": 0.021192273706802787,
+            "closest_contact_pad": [
+              0.10930627584457396,
+              -0.44726738856300335,
+              0.7896978261036247
+            ],
+            "closest_contact_pad_button": [
+              0.10930627584457396,
+              -0.4441537857055664,
+              0.7687355279922485
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003113602857436948,
+              0.020962298111376176
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18e74cc3506ad65c7060db8e5f3fdc9f4a70e2f2461377d3d96315991af162b4",
+    "visual_seed": 2164961307456431580,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d1bfa9fd3092aa999f0721e72285b8db1eff5e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_56_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.37078792381775144,
+              0.29113402186208037,
+              1.0499815417574785
+            ],
+            "current_z": 1.0499815417574785,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19339491513962337,
+            "gripper_z": 1.048409771326422,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.365288024786375,
+              0.285928454801218,
+              1.048409771326422
+            ],
+            "object_minus_gripper": [
+              0.005499899031376432,
+              0.005205567060862393,
+              0.0015717704310564962
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+            "object_to_gripper_xy": 0.007572768171578405,
+            "object_to_gripper_z": 0.0015717704310564962,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37078792381775144,
+              0.26656445676394097,
+              1.0499815417574785
+            ],
+            "finger_b": [
+              0.35822826543719755,
+              0.29113402186208037,
+              1.0499815417574785
+            ],
+            "finger_midpoint": [
+              0.36450809462747447,
+              0.27884923931301064,
+              1.0499815417574785
+            ],
+            "object_minus_finger_midpoint": [
+              0.006279829190276975,
+              0.012284782549069728,
+              0.0
+            ],
+            "finger_gap": 0.027593632376835195,
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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": 0.7928247337086096,
+            "object_to_finger_line_xy": 0.011183208501772618,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780783963496006,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.22927337355560884,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37178203125281273,
+              0.2891312128952406,
+              1.240516145309576
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+            "held_position": [
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007732669444576353,
+            "max_held_gripper_dist": 0.0077347546889012025,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014697504779956905,
+            "max_held_gripper_z_dist": 0.001592079099531185,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08964424213177058,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37779013365181513,
+              0.26788052586776256,
+              1.2419858957875718
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+            "held_grasp_finger_b": [
+              0.3676727220413064,
+              0.2937719796244156,
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+            "held_grasp_midpoint": [
+              0.37273142784656077,
+              0.2808262527460891,
+              1.2419858957875718
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+            "held_grasp_object_position": [
+              0.37779013365181513,
+              0.2937719796244156,
+              1.2419858957875718
+            ],
+            "held_grasp_finger_gap": 0.02779801063618328,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02476968948168654,
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2648546671070363,
+              -0.37797313566889945,
+              0.8470196259374092
+            ],
+            "target_position": [
+              0.25645041238772825,
+              -0.3811843074213534,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008996839523453216,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18699113477486107,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196259374092,
+            "min_z": 0.5730800627579278,
+            "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": 0.0754187618755336,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08656341046849368,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.156004007711378,
+            "release_required_pad_clearance": 0.05328170523424684,
+            "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": 1.5825998519956024,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007913529872894287,
+            "max_z_decrease": 0.007913529872894287,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350864665658739,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007913529872894287,
+            "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": 0.021154283574805373,
+            "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": 0.007913529872894287,
+            "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": 0.007913550191086404,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11215034127235408,
+              -0.4374457597732544,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11215034127235408,
+              -0.4374457597732544,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11131108199772757,
+              -0.43839818923389756,
+              0.8073992602871783
+            ],
+            "closest_button": [
+              0.11213947832584378,
+              -0.43744057416915894,
+              0.7723356485366821
+            ],
+            "closest_ee_minus_button": [
+              -0.0008283963281162099,
+              -0.0009576150647386261,
+              0.035063611750496215
+            ],
+            "button_min_z_position": [
+              0.11213307082653041,
+              -0.4374409317970276,
+              0.7688953280448914
+            ],
+            "min_active_finger_to_button": 0.14691111248270194,
+            "closest_active_finger": [
+              -0.029895275831222534,
+              -0.42291951179504395,
+              0.8109893202781677
+            ],
+            "closest_active_finger_button": [
+              0.11215100437402722,
+              -0.4374450743198395,
+              0.7764243483543396
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14204628020524976,
+              0.014525562524795532,
+              0.034564971923828125
+            ],
+            "min_contact_pad_to_button": 0.021154283574805373,
+            "closest_contact_pad": [
+              0.11213307082653041,
+              -0.4394434568286612,
+              0.7899546159497793
+            ],
+            "closest_contact_pad_button": [
+              0.11213307082653041,
+              -0.4374409317970276,
+              0.7688953280448914
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020025250316336174,
+              0.02105928790488798
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88e2ec5de840b40d6bfe202400063aa82f416a6b6eb350a0765f4eed4a369c3b",
+    "visual_seed": 1010688159457221065,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59fd8d631583131eebf86016fa24b188bc9a77e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_58_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.37394836463546205,
+              0.292734527232577,
+              1.051173328539967
+            ],
+            "current_z": 1.051173328539967,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19458676152675658,
+            "gripper_z": 1.0495946341408355,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3682972259345485,
+              0.28752424877922594,
+              1.0495946341408355
+            ],
+            "object_minus_gripper": [
+              0.005651138700913549,
+              0.005210278453351036,
+              0.0015786943991313862
+            ],
+            "object_to_gripper_xy": 0.007686505719663321,
+            "object_to_gripper_z": 0.0015786943991313862,
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+              0.773115336894989
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+            ],
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+              0.10820678621530533,
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+              0.7688798308372498
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+            "closest_active_finger": [
+              -0.03252604603767395,
+              -0.4254842698574066,
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+              0.10823102295398714,
+              -0.43869656324386597,
+              0.7758693099021912
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.14075706899166107,
+              0.01321229338645935,
+              0.034637510776519775
+            ],
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+            "closest_contact_pad": [
+              0.10820678621530533,
+              -0.43982027843993465,
+              0.7899646824615222
+            ],
+            "closest_contact_pad_button": [
+              0.10820678621530533,
+              -0.43869525194168085,
+              0.7688798308372498
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011250264982538005,
+              0.021084851624272427
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "49604ef79d54bdd4405f3808f505c6b9dfb472daee27bdce82c4f15a42ed8e39",
+    "visual_seed": 8279031252323638477,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8305bc2a08f3c98d7a8a9ba9c64940540dd8f69
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_59_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.3713486168699375,
+              0.28895518795843966,
+              1.0467132835929285
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+            "gripper_z": 1.0469494099359995,
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+            "gripper_position": [
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+              0.2836858389445509,
+              1.0469494099359995
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+              0.005269349013888758,
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+            "object_to_gripper_z": -0.0002361263430710192,
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+              0.3713486168699375,
+              0.26402182640640603,
+              1.0467132835929285
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+              0.28895518795843966,
+              1.0467132835929285
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+              0.27648850718242285,
+              1.0467132835929285
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+              0.012466680776016814,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 226,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
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+            ],
+            "disturbances": [],
+            "last_frame": {
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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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007837554142941452,
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+            "max_held_gripper_z_dist": 0.000522591189771715,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
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+              0.2656370408644578,
+              1.2362838410985215
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+              0.2915904149318975,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025333445602758808,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26430988884585205,
+              -0.38517451926017776,
+              0.8470195584833506
+            ],
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+              0.2561500995812328,
+              -0.38807141329239947,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00865876179813934,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18610249174132498,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195584833506,
+            "min_z": 0.5730800627579278,
+            "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": 0.07522654680154821,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546056661365735,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15538630295574493,
+            "release_required_pad_clearance": 0.052730283306828676,
+            "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": 0.5128173148538419,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007984399795532227,
+            "max_z_decrease": 0.007984399795532227,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512960067015216,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007984399795532227,
+            "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": 0.02105360811826451,
+            "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": 0.007984399795532227,
+            "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": 0.007984421493272626,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11185002326965333,
+              -0.44433286786079407,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11185002326965333,
+              -0.44433286786079407,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11088072198914486,
+              -0.44277719773367624,
+              0.8077492229931043
+            ],
+            "closest_button": [
+              0.11184120923280716,
+              -0.44432610273361206,
+              0.7726669311523438
+            ],
+            "closest_ee_minus_button": [
+              -0.0009604872436622947,
+              0.0015489049999358184,
+              0.035082291840760504
+            ],
+            "button_min_z_position": [
+              0.11183225363492966,
+              -0.44432732462882996,
+              0.7688244581222534
+            ],
+            "min_active_finger_to_button": 0.14642027433516372,
+            "closest_active_finger": [
+              -0.01717662811279297,
+              -0.5043686628341675,
+              0.8108298182487488
+            ],
+            "closest_active_finger_button": [
+              0.11185122281312944,
+              -0.4443311095237732,
+              0.7763885259628296
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1290278509259224,
+              -0.06003755331039429,
+              0.03444129228591919
+            ],
+            "min_contact_pad_to_button": 0.02105360811826451,
+            "closest_contact_pad": [
+              0.11183225363492966,
+              -0.44432732462882996,
+              0.7898780662405179
+            ],
+            "closest_contact_pad_button": [
+              0.11183225363492966,
+              -0.44432732462882996,
+              0.7688244581222534
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105360811826451
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "da53608831dd61f1d189f40c1f9d0841b093969abfde91fb687568ae0d387286",
+    "visual_seed": 7204981009546942920,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab24e6319e8a534dabe4d188fc857ba9940636c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_5_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.37310521739621294,
+              0.2952142337936436,
+              1.0477755741827457
+            ],
+            "current_z": 1.0477755741827457,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19118900716953535,
+            "gripper_z": 1.0478983769843424,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36732166631669927,
+              0.2900019650323801,
+              1.0478983769843424
+            ],
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+              0.005783551079513671,
+              0.005212268761263461,
+              -0.00012280280159671086
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+            "object_to_gripper_xy": 0.007785705409851229,
+            "object_to_gripper_z": -0.00012280280159671086,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37310521739621294,
+              0.270222662892801,
+              1.0477755741827457
+            ],
+            "finger_b": [
+              0.3608185614941152,
+              0.2952142337936436,
+              1.0477755741827457
+            ],
+            "finger_midpoint": [
+              0.36696188944516406,
+              0.2827184483432223,
+              1.0477755741827457
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061433279510488825,
+              0.012495785450421293,
+              0.0
+            ],
+            "finger_gap": 0.02784852831566501,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013924264157832504,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477755741827457,
+            "object_top_z": 1.0931444533137857,
+            "finger_top_clearance": 0.04536887913104004,
+            "fingertip_min_top_clearance": 0.013610663739312011,
+            "object_projection_between_fingers": 0.8053461972085572,
+            "object_to_finger_line_xy": 0.011026178066968335,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0482209260132614,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4129012506535452,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3fec4a720bfd5cb14354a32b61941d1a8935ebcbdece5ea8ea28a6f2f1033828",
+    "visual_seed": 773975048941602325,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c57e983cf41320a14d0c949a328fc0b9842853e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2923853563486694,
+              1.0499052813168812
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+            "gripper_position": [
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+              0.28710134804401444,
+              1.0498809806615619
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+              0.005284008304654975,
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+              0.26725488186939933,
+              1.0499052813168812
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+              0.2923853563486694,
+              1.0499052813168812
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+              0.36110939413821486,
+              0.27982011910903437,
+              1.0499052813168812
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+              0.012565237239635041,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29104059610035776,
+              1.237020735045476
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+              0.2959687046445805,
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+            "max_held_gripper_z_dist": 0.0002761362945336021,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2959687046445805,
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+              0.2830473382423009,
+              1.2369240612608323
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+              0.2959687046445805,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025454823448571688,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9993633177809809,
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+            "held_grasp_object_to_finger_line_xy": 0.005029065651637312,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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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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+    },
+    {
+      "step_index": 2,
+      "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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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606009410666564,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15688901805485062,
+            "release_required_pad_clearance": 0.05303004705333282,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0914444705430584,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008068442344665527,
+            "max_z_decrease": 0.008068442344665527,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035113291604738105,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008068442344665527,
+            "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": 0.021120106539840297,
+            "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": 0.008068442344665527,
+            "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": 0.008068455187324327,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11297345161437988,
+              -0.438271164894104,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11297345161437988,
+              -0.438271164894104,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11404990403606566,
+              -0.4391083671056188,
+              0.8038267772421387
+            ],
+            "closest_button": [
+              0.11297012865543365,
+              -0.4382571578025818,
+              0.7687404155731201
+            ],
+            "closest_ee_minus_button": [
+              0.0010797753806320032,
+              -0.0008512093030370038,
+              0.03508636166901857
+            ],
+            "button_min_z_position": [
+              0.11297012865543365,
+              -0.4382571578025818,
+              0.7687404155731201
+            ],
+            "min_active_finger_to_button": 0.14476995006549007,
+            "closest_active_finger": [
+              -0.02701812982559204,
+              -0.42550286650657654,
+              0.8109346628189087
+            ],
+            "closest_active_finger_button": [
+              0.11297613382339478,
+              -0.4382674992084503,
+              0.7763368487358093
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13999426364898682,
+              0.01276463270187378,
+              0.034597814083099365
+            ],
+            "min_contact_pad_to_button": 0.021120106539840297,
+            "closest_contact_pad": [
+              0.11297012865543365,
+              -0.44007325888370113,
+              0.7897822946982687
+            ],
+            "closest_contact_pad_button": [
+              0.11297012865543365,
+              -0.4382571578025818,
+              0.7687404155731201
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018161010811193479,
+              0.021041879125148544
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "661bbba935ab110db1f9ce1211081a390ee904386a21592d37f1c1d3c60f3d83",
+    "visual_seed": 1310299518024278061,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..af5856efe5cfd94680d3f243fbc4032eb3d545f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_61_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.37315941772986827,
+              0.29615953581664717,
+              1.0515559529377612
+            ],
+            "current_z": 1.0515559529377612,
+            "required_z": 0.8565866266178549,
+            "initial_z": 0.7565866266178549,
+            "lift_margin": 0.19496932631990627,
+            "gripper_z": 1.0500298404270345,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36736510065551187,
+              0.2909369605087744,
+              1.0500298404270345
+            ],
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+              0.005794317074356403,
+              0.00522257530787279,
+              0.0015261125107266515
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+            "object_to_gripper_xy": 0.00780060274623575,
+            "object_to_gripper_z": 0.0015261125107266515,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37315941772986827,
+              0.2711888078276613,
+              1.0515559529377612
+            ],
+            "finger_b": [
+              0.36081048586555914,
+              0.29615953581664717,
+              1.0515559529377612
+            ],
+            "finger_midpoint": [
+              0.36698495179771373,
+              0.28367417182215426,
+              1.0515559529377612
+            ],
+            "object_minus_finger_midpoint": [
+              0.006174465932154538,
+              0.012485363994492904,
+              0.0
+            ],
+            "finger_gap": 0.02785737558509903,
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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": 1.0978429880688076,
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+            "object_to_finger_line_xy": 0.01106930613747863,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856039524731988,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7165266245128786,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3739956455756477,
+              0.29369098815796374,
+              1.2409956935292763
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+            "held_position": [
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+              1.2424111267304958
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007947586288477849,
+            "max_held_gripper_dist": 0.007949323523741088,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001415433201219507,
+            "max_held_gripper_z_dist": 0.001545591531940449,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08960233552722588,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_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",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+            },
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+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2590275917351716,
+              -0.3838925773610255,
+              0.847019095102832
+            ],
+            "target_position": [
+              0.25176854861492287,
+              -0.38618042112841405,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007611040410194189,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18532276272709877,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019095102832,
+            "min_z": 0.5730800627579278,
+            "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": 0.07589393221393644,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635386555309406,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15304477830139535,
+            "release_required_pad_clearance": 0.05317693277654703,
+            "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": 1.3756984764462252,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007997989654541016,
+            "max_z_decrease": 0.007997989654541016,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035123201523728616,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007997989654541016,
+            "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": 0.021253293697647946,
+            "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": 0.007997989654541016,
+            "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": 0.007998010658619301,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10746847093105315,
+              -0.4424418807029724,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10746847093105315,
+              -0.4424418807029724,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10668238676592032,
+              -0.44447006810894435,
+              0.8072709324801349
+            ],
+            "closest_button": [
+              0.10745751112699509,
+              -0.44243600964546204,
+              0.7722152471542358
+            ],
+            "closest_ee_minus_button": [
+              -0.0007751243610747693,
+              -0.0020340584634823133,
+              0.03505568532589909
+            ],
+            "button_min_z_position": [
+              0.10745081305503845,
+              -0.44243696331977844,
+              0.7688108682632446
+            ],
+            "min_active_finger_to_button": 0.14676087473550836,
+            "closest_active_finger": [
+              -0.034505680203437805,
+              -0.42883414030075073,
+              0.8109903335571289
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+            "closest_active_finger_button": [
+              0.10746999084949493,
+              -0.4424397349357605,
+              0.7763991355895996
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14197567105293274,
+              0.013605594635009766,
+              0.0345911979675293
+            ],
+            "min_contact_pad_to_button": 0.021253293697647946,
+            "closest_contact_pad": [
+              0.10745081305503845,
+              -0.4455199546816484,
+              0.7898393645780342
+            ],
+            "closest_contact_pad_button": [
+              0.10745081305503845,
+              -0.44243696331977844,
+              0.7688108682632446
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003082991361869958,
+              0.021028496314789535
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f97315a678244d4edfb9f703ce96ce1800aa7a18fb9e655ebe3714987813cb3",
+    "visual_seed": 1288675841005348064,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59d19b9192128f9284ae9ba61c8fd5b6fe5be60b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3709251819409524,
+              0.2915440773509925,
+              1.0511006837136578
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+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008234595827969447,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11100149154663086,
+              -0.44510897994041443,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11100149154663086,
+              -0.44510897994041443,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11235273356419498,
+              -0.4446562404159845,
+              0.8035808056500985
+            ],
+            "closest_button": [
+              0.11100661754608154,
+              -0.4450854063034057,
+              0.7685742974281311
+            ],
+            "closest_ee_minus_button": [
+              0.0013461160181134357,
+              0.0004291658874212012,
+              0.03500650822196738
+            ],
+            "button_min_z_position": [
+              0.11100661754608154,
+              -0.4450854063034057,
+              0.7685742974281311
+            ],
+            "min_active_finger_to_button": 0.14458901548774375,
+            "closest_active_finger": [
+              -0.014172807335853577,
+              -0.5087186694145203,
+              0.8106167912483215
+            ],
+            "closest_active_finger_button": [
+              0.11100394278764725,
+              -0.445105642080307,
+              0.776118278503418
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12517675012350082,
+              -0.06361302733421326,
+              0.034498512744903564
+            ],
+            "min_contact_pad_to_button": 0.02097301930917813,
+            "closest_contact_pad": [
+              0.11100661754608154,
+              -0.44573774994194687,
+              0.7895371690520383
+            ],
+            "closest_contact_pad_button": [
+              0.11100661754608154,
+              -0.4450854063034057,
+              0.7685742974281311
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006523436385411641,
+              0.020962871623907198
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ee603a00b38f76c8bb93f91e7e9099ac0815b1a6b2a3839b1a3431a5e7f951a1",
+    "visual_seed": 660136029317366612,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3233d8e3cf2856e2f6853b2e15e4a2d3ac921ee7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_63_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3742043235185604,
+              0.2882164305664192,
+              1.0500529956387021
+            ],
+            "current_z": 1.0500529956387021,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19346654783478134,
+            "gripper_z": 1.0486028131130802,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3686419563480766,
+              0.2830519787074277,
+              1.0486028131130802
+            ],
+            "object_minus_gripper": [
+              0.005562367170483806,
+              0.005164451858991503,
+              0.0014501825256219014
+            ],
+            "object_to_gripper_xy": 0.007590223418524439,
+            "object_to_gripper_z": 0.0014501825256219014,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3742043235185604,
+              0.2635178350718621,
+              1.0500529956387021
+            ],
+            "finger_b": [
+              0.36180944445138274,
+              0.2882164305664192,
+              1.0500529956387021
+            ],
+            "finger_midpoint": [
+              0.3680068839849716,
+              0.27586713281914066,
+              1.0500529956387021
+            ],
+            "object_minus_finger_midpoint": [
+              0.006197439533588811,
+              0.012349297747278554,
+              0.0
+            ],
+            "finger_gap": 0.02763428389688642,
+            "fingertip_max_gap": 0.09130250820203803,
+            "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": 1.0500529956387021,
+            "object_top_z": 1.0959382419934915,
+            "finger_top_clearance": 0.04588524635478941,
+            "fingertip_min_top_clearance": 0.013765573906436823,
+            "object_projection_between_fingers": 0.7988184463004151,
+            "object_to_finger_line_xy": 0.011078126917508724,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815125410101902,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.42296075325547833,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3749918823108334,
+              0.2863111944135742,
+              1.2387353813642925
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+            "held_position": [
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+              1.2400629552514826
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007727623162752277,
+            "max_held_gripper_dist": 0.007729211857295625,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00132757388719007,
+            "max_held_gripper_z_dist": 0.0014616191628502584,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08933435893565056,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38100513505662864,
+              0.26514292427852587,
+              1.2400629552514826
+            ],
+            "held_grasp_finger_b": [
+              0.3708089681367412,
+              0.29097965226759226,
+              1.2400629552514826
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+            "held_grasp_midpoint": [
+              0.3759070515966849,
+              0.2780612882730591,
+              1.2400629552514826
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+            "held_grasp_object_position": [
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+              0.29097965226759226,
+              1.2400629552514826
+            ],
+            "held_grasp_finger_gap": 0.02777585881731137,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024821333072551455,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08908561694576869,
+              -0.9958561666159884,
+              0.018282457884558068
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003934319004724671,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03188122660899484,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "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
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.2572373859704782,
+              -0.38346792988135164,
+              0.8470207409422918
+            ],
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+              0.2507102217829374,
+              -0.3856887691757122,
+              0.8084375599031817
+            ],
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+            "xy_threshold": 0.08,
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470207409422918,
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+            "require_object_upright": true,
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+            "release_gap_ok": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.39958379262035665,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007802724838256836,
+            "max_z_decrease": 0.007802724838256836,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351222266865919,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007802724838256836,
+            "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": 0.021085256698407995,
+            "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": 0.007802724838256836,
+            "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": 0.007802748422278589,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1064101457595825,
+              -0.4419502317905426,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1064101457595825,
+              -0.4419502317905426,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10718767661255715,
+              -0.44039447036325186,
+              0.8077441442921947
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+            "closest_button": [
+              0.10640090703964232,
+              -0.4419432580471039,
+              0.7726649045944214
+            ],
+            "closest_ee_minus_button": [
+              0.0007867695729148333,
+              0.0015487876838520265,
+              0.03507923969777327
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+              0.10639148950576782,
+              -0.44194576144218445,
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+            "closest_active_finger": [
+              -0.020168282091617584,
+              -0.5034168362617493,
+              0.810468316078186
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+            "closest_active_finger_button": [
+              0.1064130961894989,
+              -0.4419463574886322,
+              0.7759549021720886
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.12658137828111649,
+              -0.061470478773117065,
+              0.03451341390609741
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+            "min_contact_pad_to_button": 0.021085256698407995,
+            "closest_contact_pad": [
+              0.10639148950576782,
+              -0.44194576144218445,
+              0.7900913897779368
+            ],
+            "closest_contact_pad_button": [
+              0.10639148950576782,
+              -0.44194576144218445,
+              0.7690061330795288
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021085256698407995
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "14eabd7e4cb8f800fd401cffb5bea816e45e15e2512748baceb2f2d2ad0ce693",
+    "visual_seed": 2848288178097177015,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f62256c61122ac2895efaf30ced8c0e686cde6b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.28997911286270167,
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+            "gripper_z": 1.0507774673810508,
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+            "gripper_position": [
+              0.359384204973216,
+              0.2846584409450684,
+              1.0507774673810508
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+              0.005320671917633246,
+              5.128046882485471e-05
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+            "object_to_gripper_z": 5.128046882485471e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3654038461496997,
+              0.264871678230963,
+              1.0508287478498757
+            ],
+            "finger_b": [
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+              1.0508287478498757
+            ],
+            "finger_midpoint": [
+              0.3591497225406839,
+              0.2774253955468323,
+              1.0508287478498757
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+              0.006254123609015783,
+              0.01255371731586935,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_top_z": 1.0962248732638187,
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+            "object_projection_between_fingers": 0.8011586301370299,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 230,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc9ed50aa92625991d042d9b034825fdfb5aaa2860380d7374654c141c74e553",
+    "visual_seed": 7774685001786735140,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..062946ea8ce4122089a39d9424d255d413f32802
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_65_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+            "active_arm": null,
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+              0.2945245483323138,
+              1.0498313490170328
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+            "current_z": 1.0498313490170328,
+            "required_z": 0.8565865670132103,
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+            "lift_margin": 0.19324478200382245,
+            "gripper_z": 1.0484800773201652,
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+              0.3648204770957689,
+              0.28938938456211233,
+              1.0484800773201652
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+              0.005620723436575825,
+              0.005135163770201456,
+              0.0013512716968675509
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+            "object_to_gripper_z": 0.0013512716968675509,
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+              0.269770431306827,
+              1.0498313490170328
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+              0.2945245483323138,
+              1.0498313490170328
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+            "finger_midpoint": [
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+              0.2821474898195704,
+              1.0498313490170328
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+              0.0123770585127434,
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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": 0.04862998473665216,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
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+            ],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2918225159720455,
+              1.2364473418517683
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007731466988794729,
+            "max_held_gripper_dist": 0.007732180681673223,
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+            "held_gripper_z_dist": 0.001190451761211131,
+            "max_held_gripper_z_dist": 0.001363616597149564,
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+            "held_object_xy_range": 0.08918927860522652,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.27034840687327394,
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+              0.3679296103514537,
+              0.29662914250552463,
+              1.2376377936129794
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+              0.28348877468939926,
+              1.2376377936129794
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+              0.2963748079520867,
+              1.2376377936129794
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025165272478019106,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09964584589902843,
+              -0.9946317566438129,
+              0.027899356098486816
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003599535082484698,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03189617618068436,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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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+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595372430419658,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15338655494779263,
+            "release_required_pad_clearance": 0.05297686215209829,
+            "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": 0.988328494875109,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007934153079986572,
+            "max_z_decrease": 0.007934153079986572,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035082953639477645,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007934153079986572,
+            "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": 0.0210795993219447,
+            "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": 0.007934153079986572,
+            "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": 0.007934176747759123,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10920733213424685,
+              -0.44345995783805847,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10920733213424685,
+              -0.44345995783805847,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10837971610533359,
+              -0.4431821460981542,
+              0.8077193158417953
+            ],
+            "closest_button": [
+              0.10919839143753055,
+              -0.4434532821178436,
+              0.772646963596344
+            ],
+            "closest_ee_minus_button": [
+              -0.0008186753321969553,
+              0.0002711360196893664,
+              0.035072352245451355
+            ],
+            "button_min_z_position": [
+              0.10918867588043216,
+              -0.44345471262931824,
+              0.7688747048377991
+            ],
+            "min_active_finger_to_button": 0.1468267504993973,
+            "closest_active_finger": [
+              -0.01940031349658966,
+              -0.5053391456604004,
+              0.8109272122383118
+            ],
+            "closest_active_finger_button": [
+              0.10920861363410952,
+              -0.4434577524662018,
+              0.7764521241188049
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12860892713069919,
+              -0.06188139319419861,
+              0.034475088119506836
+            ],
+            "min_contact_pad_to_button": 0.0210795993219447,
+            "closest_contact_pad": [
+              0.10918867588043216,
+              -0.4443233850700904,
+              0.7899363979265414
+            ],
+            "closest_contact_pad_button": [
+              0.10918867588043216,
+              -0.44345471262931824,
+              0.7688747048377991
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008686724407721558,
+              0.021061693088742284
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "721dafe30c2d9a98db609838132ba1b4f101f87e5a75706cfb98ac7e2665802c",
+    "visual_seed": 2680755630454010979,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49dcef69ba2b22af320b7919162acd70890d1e3b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_67_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3740056443727406,
+              0.29370667907651055,
+              1.04999452376059
+            ],
+            "current_z": 1.04999452376059,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19340801635202454,
+            "gripper_z": 1.048356207949681,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.368482738711306,
+              0.2885982322165852,
+              1.048356207949681
+            ],
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+              0.005522905661434596,
+              0.005108446859925342,
+              0.001638315810909008
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+            "object_to_gripper_xy": 0.0075232118317768645,
+            "object_to_gripper_z": 0.001638315810909008,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3740056443727406,
+              0.269039265417531,
+              1.04999452376059
+            ],
+            "finger_b": [
+              0.3616648947814158,
+              0.29370667907651055,
+              1.04999452376059
+            ],
+            "finger_midpoint": [
+              0.3678352695770782,
+              0.28137297224702074,
+              1.04999452376059
+            ],
+            "object_minus_finger_midpoint": [
+              0.006170374795662403,
+              0.01233370682948981,
+              0.0
+            ],
+            "finger_gap": 0.027582157223447822,
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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": 1.0960452475491262,
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+            "object_projection_between_fingers": 0.7998172639960303,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04823466665702279,
+            "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": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37534919197326355,
+              0.2907962141296897,
+              1.239993086292108
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+            "held_position": [
+              0.3814060571469033,
+              0.29529807664599933,
+              1.2415110353337064
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00769782768969877,
+            "max_held_gripper_dist": 0.0076987209880142495,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015179490415984098,
+            "max_held_gripper_z_dist": 0.001651915067182541,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09011484102211043,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
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+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "fr3_duo_mobile",
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+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_leftfinger",
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+                "left_inner_finger",
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+                "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",
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+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+            },
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+              "source_missing": false,
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+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26802994122008045,
+              -0.3823382070008241,
+              0.847019449474657
+            ],
+            "target_position": [
+              0.2602573631551863,
+              -0.38479225521953553,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008150786614470652,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18670693836277522,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019449474657,
+            "min_z": 0.5730800627579278,
+            "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": 0.07552571903498397,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08574965369667968,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15507737011275893,
+            "release_required_pad_clearance": 0.05287482684833984,
+            "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": 0.7903052808840075,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008088350296020508,
+            "max_z_decrease": 0.008088350296020508,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515804691095447,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008088350296020508,
+            "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": 0.02102172420221171,
+            "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": 0.008088350296020508,
+            "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": 0.008088365677748741,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11595728993415833,
+              -0.44105371832847595,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11595728993415833,
+              -0.44105371832847595,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11705235788450921,
+              -0.43914291003078443,
+              0.8038104679607221
+            ],
+            "closest_button": [
+              0.11596181988716124,
+              -0.44103860855102534,
+              0.7687205076217651
+            ],
+            "closest_ee_minus_button": [
+              0.0010905379973479706,
+              0.0018956985202409071,
+              0.03508996033895695
+            ],
+            "button_min_z_position": [
+              0.11596181988716124,
+              -0.44103860855102534,
+              0.7687205076217651
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+            "min_active_finger_to_button": 0.14414632578381503,
+            "closest_active_finger": [
+              -0.010207049548625946,
+              -0.5016799569129944,
+              0.8106669783592224
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+            "closest_active_finger_button": [
+              0.11595879495143889,
+              -0.44105091691017145,
+              0.776250958442688
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12616584450006485,
+              -0.06062904000282293,
+              0.034416019916534424
+            ],
+            "min_contact_pad_to_button": 0.02102172420221171,
+            "closest_contact_pad": [
+              0.11596181988716124,
+              -0.44103860855102534,
+              0.7897422318239768
+            ],
+            "closest_contact_pad_button": [
+              0.11596181988716124,
+              -0.44103860855102534,
+              0.7687205076217651
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02102172420221171
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eff55b6f18b43a987b1d8faefa6441788487e3c2cbb64c9e419aa5b2340f2736",
+    "visual_seed": 9037273484093304014,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..046b1846943e0562f06be559ee90e3b933e4c80f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
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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": 0.008078766816162694,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10752100497484206,
+              -0.4401164948940277,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10752100497484206,
+              -0.4401164948940277,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10747473047010156,
+              -0.43893040356345575,
+              0.8038028537356648
+            ],
+            "closest_button": [
+              0.1075228154659271,
+              -0.44010218977928156,
+              0.768730103969574
+            ],
+            "closest_ee_minus_button": [
+              -4.8084995825536936e-05,
+              0.0011717862158258097,
+              0.03507274976609087
+            ],
+            "button_min_z_position": [
+              0.1075228154659271,
+              -0.44010218977928156,
+              0.768730103969574
+            ],
+            "min_active_finger_to_button": 0.14549138785257248,
+            "closest_active_finger": [
+              -0.01991657167673111,
+              -0.5012484192848206,
+              0.8110883831977844
+            ],
+            "closest_active_finger_button": [
+              0.10752349346876142,
+              -0.44011357426643366,
+              0.7766020894050598
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12744006514549253,
+              -0.061134845018386896,
+              0.03448629379272461
+            ],
+            "min_contact_pad_to_button": 0.021037439545483566,
+            "closest_contact_pad": [
+              0.1075228154659271,
+              -0.44018680129139176,
+              0.7897673733627698
+            ],
+            "closest_contact_pad_button": [
+              0.1075228154659271,
+              -0.44010218977928156,
+              0.768730103969574
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -8.46115121101998e-05,
+              0.021037269393195834
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4ba7761a03dc1bcc7be08c7caa709b59f6f2640725255079c09a1c8d01e0a0c5",
+    "visual_seed": 8241357156459829851,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d125022a4181f86fb0843cd51701f975022cca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.368944984138282,
+              0.2962197033258477,
+              1.0493880932862962
+            ],
+            "current_z": 1.0493880932862962,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.1928015262730861,
+            "gripper_z": 1.048031654993201,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3633408330887994,
+              0.291045692634332,
+              1.048031654993201
+            ],
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+              0.005604151049482586,
+              0.005174010691515685,
+              0.0013564382930952856
+            ],
+            "object_to_gripper_xy": 0.0076273780305774405,
+            "object_to_gripper_z": 0.0013564382930952856,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.368944984138282,
+              0.27154081858753015,
+              1.0493880932862962
+            ],
+            "finger_b": [
+              0.3564517292097143,
+              0.2962197033258477,
+              1.0493880932862962
+            ],
+            "finger_midpoint": [
+              0.36269835667399813,
+              0.28388026095668895,
+              1.0493880932862962
+            ],
+            "object_minus_finger_midpoint": [
+              0.006246627464283838,
+              0.012339442369158737,
+              0.0
+            ],
+            "finger_gap": 0.02766096113003564,
+            "fingertip_max_gap": 0.09248027452893201,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013830480565017796,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493880932862962,
+            "object_top_z": 1.095812891015847,
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+            "fingertip_min_top_clearance": 0.013927439318865165,
+            "object_projection_between_fingers": 0.7960063394555577,
+            "object_to_finger_line_xy": 0.011146380523045191,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874013726446601,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8850019456169427,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3701131067279524,
+              0.29355009938688,
+              1.2382117233429226
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+            "held_position": [
+              0.3762551810928895,
+              0.29810849957675073,
+              1.2394361506630454
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007746180481869404,
+            "max_held_gripper_dist": 0.0077468705595725475,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001224427320122734,
+            "max_held_gripper_z_dist": 0.001369676173828882,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08918549263979292,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3762551810928895,
+              0.272067612642195,
+              1.2394361506630454
+            ],
+            "held_grasp_finger_b": [
+              0.36641411801347,
+              0.2983653830191275,
+              1.2394361506630454
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+            "held_grasp_midpoint": [
+              0.37133464955317974,
+              0.2852164978306613,
+              1.2394361506630454
+            ],
+            "held_grasp_object_position": [
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+              0.29810849957675073,
+              1.2394361506630454
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+            "held_grasp_finger_gap": 0.02807880427174534,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0251583028375364,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10112000956162993,
+              -0.9945113542083687,
+              0.026868383220665648
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003608980201722541,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031881418654506916,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.26768699123195977,
+              -0.38006166332824115,
+              0.84701955610811
+            ],
+            "target_position": [
+              0.26018003079712865,
+              -0.38257549943575864,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.007916680298305506,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18526329320815033,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.84701955610811,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565739808855344,
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+            "release_fingertip_min_gap": 0.08527838489688662,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15345917073789894,
+            "release_required_pad_clearance": 0.05263919244844331,
+            "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": 0.33804088132798965,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00806736946105957,
+            "max_z_decrease": 0.00806736946105957,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035154090477441405,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00806736946105957,
+            "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": 0.021252034042054408,
+            "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": 0.00806736946105957,
+            "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": 0.008067384169829807,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11587996035814281,
+              -0.4388369619846344,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11587996035814281,
+              -0.4388369619846344,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11674576735001971,
+              -0.4406400554304236,
+              0.8038377486245646
+            ],
+            "closest_button": [
+              0.11587374657392498,
+              -0.438822865486145,
+              0.7687414884567261
+            ],
+            "closest_ee_minus_button": [
+              0.0008720207760947313,
+              -0.0018171899442785966,
+              0.03509626016783851
+            ],
+            "button_min_z_position": [
+              0.11587374657392498,
+              -0.438822865486145,
+              0.7687414884567261
+            ],
+            "min_active_finger_to_button": 0.14478220042467901,
+            "closest_active_finger": [
+              -0.023874059319496155,
+              -0.4232771694660187,
+              0.81077641248703
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+            "closest_active_finger_button": [
+              0.1158807426691055,
+              -0.43883413076400757,
+              0.7763023376464844
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13975480198860166,
+              0.015556961297988892,
+              0.034474074840545654
+            ],
+            "min_contact_pad_to_button": 0.021252034042054408,
+            "closest_contact_pad": [
+              0.11587374657392498,
+              -0.44193716295713503,
+              0.7897640977663913
+            ],
+            "closest_contact_pad_button": [
+              0.11587374657392498,
+              -0.438822865486145,
+              0.7687414884567261
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003114297470990013,
+              0.021022609309665263
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d89d70e85a6527302ec908b14b8668f1e01a9c19cb4e663d9ac3e8de61af2400",
+    "visual_seed": 930602324749526182,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c5cf7865caed9df617dd0c408e59e7b3481f0d8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_6_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.2902509937309304,
+              1.048088242164544
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+            "lift_margin": 0.1915017943606233,
+            "gripper_z": 1.0473650103665288,
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+            "gripper_position": [
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+              0.2849738963041717,
+              1.0473650103665288
+            ],
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+              0.005945151563305606,
+              0.005277097426758692,
+              0.0007232317980152558
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+            "object_to_gripper_z": 0.0007232317980152558,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.37364869095898595,
+              0.26518523522099074,
+              1.048088242164544
+            ],
+            "finger_b": [
+              0.36121865339126835,
+              0.2902509937309304,
+              1.048088242164544
+            ],
+            "finger_midpoint": [
+              0.3674336721751271,
+              0.27771811447596056,
+              1.048088242164544
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+            "object_minus_finger_midpoint": [
+              0.006215018783858828,
+              0.01253287925496982,
+              0.0
+            ],
+            "finger_gap": 0.027978528975153114,
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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": 1.0940738910388652,
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+            "object_to_finger_line_xy": 0.011135979315373638,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04897162415349264,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3771433532902082,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6498cd9927268bf5a2468031f292fe45a131da1b8f10b10f14c823a6fc86cf6c",
+    "visual_seed": 7494087350263742841,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94df689b4e26554aac7abbeddb3050d6262d664f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_73_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.29632641036924834,
+              1.0491797483705423
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+            "lift_margin": 0.1925933005666215,
+            "gripper_z": 1.0487997499484303,
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+            "gripper_position": [
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+              0.29106164613280455,
+              1.0487997499484303
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+              0.005264764236443786,
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+            "object_to_gripper_z": 0.0003799984221120045,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.271269464629697,
+              1.0491797483705423
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+            "finger_b": [
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+              0.29632641036924834,
+              1.0491797483705423
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+            "finger_midpoint": [
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+              0.2837979374994727,
+              1.0491797483705423
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+              0.012528472869775653,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
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+            ],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29463618963476196,
+              1.2360658355876226
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007907801402884551,
+            "max_held_gripper_dist": 0.007922316387795182,
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+            "held_gripper_z_dist": 0.00023525009557001653,
+            "max_held_gripper_z_dist": 0.00039010784491666506,
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+              0.2735374285543042,
+              1.2363010856831926
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+              0.29946805085034683,
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+              0.28650273970232554,
+              1.2363010856831926
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+              0.29946805085034683,
+              1.2363010856831926
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+            "held_grasp_finger_gap": 0.027979570494370807,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02533740844133077,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.998568120456136,
+              0.007887675187050136
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004562790717271251,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03197543641805888,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
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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",
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+          "metrics": {
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+            "gripper_away_ok": true,
+            "object_z": 0.8470196645016344,
+            "min_z": 0.5730800627579278,
+            "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": 0.07580842315744019,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597106375909945,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15608402335739366,
+            "release_required_pad_clearance": 0.05298553187954973,
+            "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": 1.004821474641227,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008039116859436035,
+            "max_z_decrease": 0.008039116859436035,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514287509680002,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008039116859436035,
+            "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": 0.021099360980078915,
+            "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": 0.008039116859436035,
+            "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": 0.00803913210352263,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1161409318447113,
+              -0.4390145838260651,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1161409318447113,
+              -0.4390145838260651,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11788068365952944,
+              -0.43910522070783076,
+              0.8077286639478476
+            ],
+            "closest_button": [
+              0.11613111197948456,
+              -0.43900868296623236,
+              0.7726294994354248
+            ],
+            "closest_ee_minus_button": [
+              0.0017495716800448868,
+              -9.653774159840145e-05,
+              0.03509916451242279
+            ],
+            "button_min_z_position": [
+              0.11612663418054582,
+              -0.4390082061290741,
+              0.7687697410583496
+            ],
+            "min_active_finger_to_button": 0.14451352614458654,
+            "closest_active_finger": [
+              -0.02313724160194397,
+              -0.4217684864997864,
+              0.8108207583427429
+            ],
+            "closest_active_finger_button": [
+              0.11614193022251129,
+              -0.43901187181472784,
+              0.7763513922691345
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13927917182445526,
+              0.017243385314941462,
+              0.0344693660736084
+            ],
+            "min_contact_pad_to_button": 0.021099360980078915,
+            "closest_contact_pad": [
+              0.11612663418054582,
+              -0.44028080860535135,
+              0.7898306887270812
+            ],
+            "closest_contact_pad_button": [
+              0.11612663418054582,
+              -0.4390082061290741,
+              0.7687697410583496
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012726024762772514,
+              0.021060947668731567
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f43b00e3c07e31eabb2b0eeb0d0d04a7717597c9ad27de5cbc134735d7ae8dff",
+    "visual_seed": 2167038705421747601,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b28272a44648972abb9c6cc396baee4a278fad83
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_76_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.3706452108882031,
+              0.29437716134143604,
+              1.0493143650036656
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+            "lift_margin": 0.19272773838581048,
+            "gripper_z": 1.0486914010164778,
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+            "gripper_position": [
+              0.3646696441469839,
+              0.28903926817643283,
+              1.0486914010164778
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+              0.00597556674121924,
+              0.005337893165003216,
+              0.0006229639871877524
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+            "object_to_gripper_z": 0.0006229639871877524,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3706452108882031,
+              0.26934927717636264,
+              1.0493143650036656
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+            "finger_b": [
+              0.35804891384047094,
+              0.29437716134143604,
+              1.0493143650036656
+            ],
+            "finger_midpoint": [
+              0.364347062364337,
+              0.28186321925889934,
+              1.0493143650036656
+            ],
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+              0.0062981485238661206,
+              0.0125139420825367,
+              0.0
+            ],
+            "finger_gap": 0.028018952248345018,
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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": 0.7978926976986545,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4626061091590647,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
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+            ],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3708626227666858,
+              0.29276335283448096,
+              1.238363635507675
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+            "held_position": [
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00803621115659963,
+            "max_held_gripper_dist": 0.008037126718186658,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000507026978894265,
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "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",
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+                "gripper",
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+                "joint1",
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+                "joint5",
+                "joint6",
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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",
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+                "ground",
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+                "workbench"
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+            },
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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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2614026367206207,
+              -0.38423308249855154,
+              0.8470194120363044
+            ],
+            "target_position": [
+              0.25461851749988246,
+              -0.38668422436657307,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0072133466614573635,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18650266866399923,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194120363044,
+            "min_z": 0.5730800627579278,
+            "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": 0.07532863093394387,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633270791079757,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15537714829094648,
+            "release_required_pad_clearance": 0.05316635395539879,
+            "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": 1.3567938738842815,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007940232753753662,
+            "max_z_decrease": 0.007940232753753662,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035112006870679086,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007940232753753662,
+            "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": 0.021075309710800072,
+            "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": 0.007940232753753662,
+            "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": 0.00794026051759754,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11031844466924665,
+              -0.44294568896293635,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11031844466924665,
+              -0.44294568896293635,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11060025983132168,
+              -0.44166090903150407,
+              0.8075672020281329
+            ],
+            "closest_button": [
+              0.11030806601047513,
+              -0.44293987751007075,
+              0.7724797129631042
+            ],
+            "closest_ee_minus_button": [
+              0.00029219382084655354,
+              0.0012789684785666777,
+              0.035087489065028676
+            ],
+            "button_min_z_position": [
+              0.11029807478189464,
+              -0.4429405927658081,
+              0.768868625164032
+            ],
+            "min_active_finger_to_button": 0.14542129351308009,
+            "closest_active_finger": [
+              -0.017355933785438538,
+              -0.5034319162368774,
+              0.8108855485916138
+            ],
+            "closest_active_finger_button": [
+              0.11032070219516751,
+              -0.4429426789283752,
+              0.7764315009117126
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12767663598060605,
+              -0.06048923730850225,
+              0.03445404767990112
+            ],
+            "min_contact_pad_to_button": 0.021075309710800072,
+            "closest_contact_pad": [
+              0.11029807478189464,
+              -0.4429405927658081,
+              0.789943934874832
+            ],
+            "closest_contact_pad_button": [
+              0.11029807478189464,
+              -0.4429405927658081,
+              0.768868625164032
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021075309710800072
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e30a771dff37a33bc6ee773c4db2bb8017d46ef854e8455066b254b157f4060",
+    "visual_seed": 2788659361200822239,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c20d21de85b41831d04ddf23376b06e970e0a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008057653903961182,
+            "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": 0.008057665841250141,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.109802208840847,
+              -0.4393424987792969,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.109802208840847,
+              -0.4393424987792969,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1084280198579062,
+              -0.43865676460450637,
+              0.807232682211151
+            ],
+            "closest_button": [
+              0.10979085415601729,
+              -0.439336359500885,
+              0.7721705436706543
+            ],
+            "closest_ee_minus_button": [
+              -0.0013628342981110847,
+              0.0006795948963786436,
+              0.03506213854049667
+            ],
+            "button_min_z_position": [
+              0.10979454964399335,
+              -0.43933093547821045,
+              0.7687512040138245
+            ],
+            "min_active_finger_to_button": 0.14712440785573835,
+            "closest_active_finger": [
+              -0.01951303333044052,
+              -0.5004616975784302,
+              0.8110781908035278
+            ],
+            "closest_active_finger_button": [
+              0.1098031848669052,
+              -0.4393423795700073,
+              0.7766204476356506
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12931621819734573,
+              -0.06111931800842285,
+              0.0344577431678772
+            ],
+            "min_contact_pad_to_button": 0.021042025741589716,
+            "closest_contact_pad": [
+              0.10979454964399335,
+              -0.4398894907220178,
+              0.7897858150953097
+            ],
+            "closest_contact_pad_button": [
+              0.10979454964399335,
+              -0.43933093547821045,
+              0.7687512040138245
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005585552438073238,
+              0.02103461108148519
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "296462bc8d98c73278e255e888739bd060b17ce96a5f46679e80c225b496a562",
+    "visual_seed": 410633903235280082,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba6d7c14be6b624c713dac8da1a3a922219312ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_78_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36654569941324544,
+              0.29516612476300963,
+              1.05032130197329
+            ],
+            "current_z": 1.05032130197329,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19373479456472442,
+            "gripper_z": 1.0501713916299544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3605178513821938,
+              0.28982203136188833,
+              1.0501713916299544
+            ],
+            "object_minus_gripper": [
+              0.0060278480310516636,
+              0.005344093401121297,
+              0.00014991034333555753
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+            "object_to_gripper_xy": 0.008055698986764687,
+            "object_to_gripper_z": 0.00014991034333555753,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36654569941324544,
+              0.2700588064288402,
+              1.05032130197329
+            ],
+            "finger_b": [
+              0.35399551628942205,
+              0.29516612476300963,
+              1.05032130197329
+            ],
+            "finger_midpoint": [
+              0.36027060785133375,
+              0.2826124655959249,
+              1.05032130197329
+            ],
+            "object_minus_finger_midpoint": [
+              0.006275091561911694,
+              0.01255365916708473,
+              0.0
+            ],
+            "finger_gap": 0.02806928090234626,
+            "fingertip_max_gap": 0.09167369305307069,
+            "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": 1.05032130197329,
+            "object_top_z": 1.0956976192918626,
+            "finger_top_clearance": 0.04537631731857261,
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+            "object_projection_between_fingers": 0.8000886038889855,
+            "object_to_finger_line_xy": 0.011225846644885603,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048336846526535346,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3724793014392926,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.366621113447659,
+              0.2935400923477238,
+              1.2384667490852757
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+            "held_position": [
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+              0.29844712961757025,
+              1.238489478328101
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0080556802352711,
+            "max_held_gripper_dist": 0.008057301392715738,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 2.2729242825425544e-05,
+            "max_held_gripper_z_dist": 0.00016004606608954752,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08919954684659298,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3730097324429346,
+              0.2724966608676425,
+              1.238489478328101
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+            "held_grasp_finger_b": [
+              0.3622407002956531,
+              0.29844712961757025,
+              1.238489478328101
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+            "held_grasp_midpoint": [
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+              0.2854718952426064,
+              1.238489478328101
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+            "held_grasp_object_position": [
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+              0.29844712961757025,
+              1.238489478328101
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+            "held_grasp_finger_gap": 0.028096243196024606,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025423582787760662,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04626879131892476,
+              -0.9988972892430781,
+              0.007962693810287027
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004779539280161015,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03199016347080109,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+            },
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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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2645811464837016,
+              -0.38526435955058824,
+              0.847019681461177
+            ],
+            "target_position": [
+              0.25679214010923485,
+              -0.38831781613895794,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.008366135155407328,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1869200541095888,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019681461177,
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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_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": 2.886129316871075,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008134543895721436,
+            "max_z_decrease": 0.008134543895721436,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035039513915684786,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008134543895721436,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020947805456165258,
+            "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": 0.008134543895721436,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008134611136298773,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11249206960201262,
+              -0.4445792734622956,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11249206960201262,
+              -0.4445792734622956,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11193296607768999,
+              -0.44283860399950203,
+              0.8036668773811485
+            ],
+            "closest_button": [
+              0.11251538991928099,
+              -0.4445558190345764,
+              0.7686743140220642
+            ],
+            "closest_ee_minus_button": [
+              -0.0005824238415910038,
+              0.001717215035074382,
+              0.034992563359084294
+            ],
+            "button_min_z_position": [
+              0.11251538991928099,
+              -0.4445558190345764,
+              0.7686743140220642
+            ],
+            "min_active_finger_to_button": 0.14569707062788226,
+            "closest_active_finger": [
+              -0.014460019767284393,
+              -0.507185161113739,
+              0.8106897473335266
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+            "closest_active_finger_button": [
+              0.11249393224716185,
+              -0.4445769488811493,
+              0.7761855125427246
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12695395201444626,
+              -0.06260821223258972,
+              0.034504234790802
+            ],
+            "min_contact_pad_to_button": 0.020947805456165258,
+            "closest_contact_pad": [
+              0.11251538991928099,
+              -0.4445558190345764,
+              0.7896221194782295
+            ],
+            "closest_contact_pad_button": [
+              0.11251538991928099,
+              -0.4445558190345764,
+              0.7686743140220642
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020947805456165258
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0cfa1f9d6694372b3374a0187b2d5292e140c4a89816095960d7003ac599f6eb",
+    "visual_seed": 6272594327719034987,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..951285aa14232a6872b0ed8addc369e59d39b50f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_79_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.29546225004374554,
+              1.0489407585612531
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+            "gripper_z": 1.0474354620874102,
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+            "gripper_position": [
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+              0.2900940323348761,
+              1.0474354620874102
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+              0.0059609081112240725,
+              0.005368217708869472,
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+            "object_to_gripper_z": 0.0015052964738428987,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3708756739929731,
+              0.2704805911345531,
+              1.0489407585612531
+            ],
+            "finger_b": [
+              0.3581844514742544,
+              0.29546225004374554,
+              1.0489407585612531
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+            "finger_midpoint": [
+              0.36453006273361377,
+              0.2829714205891493,
+              1.0489407585612531
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+              0.0063456112593593406,
+              0.01249082945459623,
+              0.0
+            ],
+            "finger_gap": 0.02802053552084379,
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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_to_finger_line_xy": 0.011314837001150484,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04887542579398681,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4059769985124677,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c67ae5d295500a869b2bbbb2e92ca2afeda9885b45295fb8ec47d9db8d8c045",
+    "visual_seed": 9116631452575714898,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..613966b137a5c6e44134a86d5d16aa5e3690e807
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.29335441850237837,
+              1.0518009717266676
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+            "current_z": 1.0518009717266676,
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+            "lift_margin": 0.19521446431810208,
+            "gripper_z": 1.0503628780055616,
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+            "gripper_position": [
+              0.3619095541076418,
+              0.2881669494940406,
+              1.0503628780055616
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+              0.005187469008337775,
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+            "object_to_gripper_z": 0.0014380937211060374,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2688204222498697,
+              1.0518009717266676
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+              1.0518009717266676
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+            "finger_midpoint": [
+              0.36109410797202235,
+              0.281087420376124,
+              1.0518009717266676
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+              0.01226699812625437,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840295448089617,
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+              0.0,
+              1.0
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+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29072180756877714,
+              1.241913502328542
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+              1.2432353216594945
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007671957593274997,
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+            "held_gripper_z_dist": 0.001321819330952545,
+            "max_held_gripper_z_dist": 0.0014526092236808452,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08922490786629786,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2823664042830497,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024968271778463117,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9935584776516869,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003457700680570081,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+            },
+            "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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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "target": "heater_platform",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15385104330420268,
+            "release_required_pad_clearance": 0.053243143264033746,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5055493211458724,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007945477962493896,
+            "max_z_decrease": 0.007945477962493896,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511629552745965,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007945477962493896,
+            "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": 0.021080835431416922,
+            "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": 0.007945477962493896,
+            "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": 0.00794550542513027,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10885921865701673,
+              -0.4405761063098907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10885921865701673,
+              -0.4405761063098907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10862172024811886,
+              -0.4388005973708988,
+              0.8081389917458591
+            ],
+            "closest_button": [
+              0.10886543244123456,
+              -0.44056844711303705,
+              0.7730680704116821
+            ],
+            "closest_ee_minus_button": [
+              -0.00024371219311569714,
+              0.0017678497421382278,
+              0.035070921334177
+            ],
+            "button_min_z_position": [
+              0.10883900523185727,
+              -0.44057083129882807,
+              0.7688633799552917
+            ],
+            "min_active_finger_to_button": 0.1457116791887007,
+            "closest_active_finger": [
+              -0.01799953728914261,
+              -0.5033830404281616,
+              0.8109476566314697
+            ],
+            "closest_active_finger_button": [
+              0.10886185616254805,
+              -0.440573126077652,
+              0.7764078974723816
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12686139345169067,
+              -0.06280991435050964,
+              0.034539759159088135
+            ],
+            "min_contact_pad_to_button": 0.021080835431416922,
+            "closest_contact_pad": [
+              0.10883900523185727,
+              -0.44057083129882807,
+              0.7899442153867087
+            ],
+            "closest_contact_pad_button": [
+              0.10883900523185727,
+              -0.44057083129882807,
+              0.7688633799552917
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021080835431416922
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a49df00990e1d1a30066b39dc138b55d544ec405a693538752780cc62a5c2d21",
+    "visual_seed": 2505768661172613107,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3ed9ca63522d5ec89b7ea1442cee60a9f099766
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_80_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.37221770635478707,
+              0.288026343895467,
+              1.051028295187134
+            ],
+            "current_z": 1.051028295187134,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19444178777856835,
+            "gripper_z": 1.050469992576709,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3662058097917753,
+              0.28267586843553877,
+              1.050469992576709
+            ],
+            "object_minus_gripper": [
+              0.006011896563011765,
+              0.005350475459928228,
+              0.0005583026104249988
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+            "object_to_gripper_xy": 0.008048011427156826,
+            "object_to_gripper_z": 0.0005583026104249988,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37221770635478707,
+              0.26301344924288816,
+              1.051028295187134
+            ],
+            "finger_b": [
+              0.35955442053174647,
+              0.288026343895467,
+              1.051028295187134
+            ],
+            "finger_midpoint": [
+              0.3658860634432668,
+              0.2755198965691776,
+              1.051028295187134
+            ],
+            "object_minus_finger_midpoint": [
+              0.006331642911520274,
+              0.012506447326289416,
+              0.0
+            ],
+            "finger_gap": 0.028035757645140037,
+            "fingertip_max_gap": 0.09347593956276543,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014017878822570004,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051028295187134,
+            "object_top_z": 1.097190585980911,
+            "finger_top_clearance": 0.046162290793777094,
+            "fingertip_min_top_clearance": 0.013848687238133128,
+            "object_projection_between_fingers": 0.7959821226521618,
+            "object_to_finger_line_xy": 0.011297908843997891,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049237969781382715,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6486829036525075,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3723424813898064,
+              0.2863415774299682,
+              1.2407466594223353
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+            "held_position": [
+              0.3787400455739452,
+              0.2912342785827007,
+              1.2412041631138166
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00806701070334261,
+            "max_held_gripper_dist": 0.008068355043959053,
+            "held_gripper_max_dist": 0.15,
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.255654044222992,
+              -0.3862055376408586,
+              0.847019050663415
+            ],
+            "target_position": [
+              0.25114006339128697,
+              -0.3878008565126553,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004787594933963291,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18228670155202795,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019050663415,
+            "min_z": 0.5730800627579278,
+            "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": 0.07550381571239528,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08759140811403136,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15085936056109853,
+            "release_required_pad_clearance": 0.053795704057015684,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.592669310765473,
+            "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": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008032560348510742,
+            "max_z_decrease": 0.008032560348510742,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510450580431734,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008032560348510742,
+            "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": 0.021096482846743096,
+            "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": 0.008032560348510742,
+            "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": 0.008032583855477199,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10683999210596082,
+              -0.4440623223781585,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10683999210596082,
+              -0.4440623223781585,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10804557115980526,
+              -0.4438486655704295,
+              0.8074915544848903
+            ],
+            "closest_button": [
+              0.1068296283483505,
+              -0.44405555725097645,
+              0.7724087238311768
+            ],
+            "closest_ee_minus_button": [
+              0.0012159428114547621,
+              0.00020689168054693896,
+              0.03508283065371354
+            ],
+            "button_min_z_position": [
+              0.10682157427072521,
+              -0.4440561234951018,
+              0.7687762975692749
+            ],
+            "min_active_finger_to_button": 0.1450726917949023,
+            "closest_active_finger": [
+              -0.019705019891262054,
+              -0.5060474872589111,
+              0.8108449578285217
+            ],
+            "closest_active_finger_button": [
+              0.10684226453304288,
+              -0.4440589845180511,
+              0.7763587832450867
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12654728442430493,
+              -0.06198850274086004,
+              0.03448617458343506
+            ],
+            "min_contact_pad_to_button": 0.021096482846743096,
+            "closest_contact_pad": [
+              0.10682157427072521,
+              -0.44498743494698834,
+              0.7898522138597357
+            ],
+            "closest_contact_pad_button": [
+              0.10682157427072521,
+              -0.4440561234951018,
+              0.7687762975692749
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009313114518865184,
+              0.021075916290460794
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4eab0a7586d98ef483458d97137b38404bed5e5526cadd66fe0758d38c5cb945",
+    "visual_seed": 7512186655828017887,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..12814e59c705422913f32f4f44345b2a8b5dda75
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_81_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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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": 0.02108497835468459,
+            "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": 0.00797504186630249,
+            "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": 0.007975070048646383,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10809480398893358,
+              -0.4412349462509155,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10809480398893358,
+              -0.4412349462509155,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10907849848752726,
+              -0.4402019860977534,
+              0.8081646677542138
+            ],
+            "closest_button": [
+              0.10810171812772751,
+              -0.44122815132141113,
+              0.7730931639671326
+            ],
+            "closest_ee_minus_button": [
+              0.000976780359799756,
+              0.0010261652236577268,
+              0.03507150378708124
+            ],
+            "button_min_z_position": [
+              0.10807429999113084,
+              -0.44122955203056335,
+              0.7688338160514832
+            ],
+            "min_active_finger_to_button": 0.14498075908889343,
+            "closest_active_finger": [
+              -0.01725555956363678,
+              -0.5053354501724243,
+              0.807665228843689
+            ],
+            "closest_active_finger_button": [
+              0.10810171812772751,
+              -0.44122815132141113,
+              0.7730931639671326
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1253572776913643,
+              -0.06410729885101318,
+              0.034572064876556396
+            ],
+            "min_contact_pad_to_button": 0.02108497835468459,
+            "closest_contact_pad": [
+              0.10807429999113084,
+              -0.44122955203056335,
+              0.7899187944061677
+            ],
+            "closest_contact_pad_button": [
+              0.10807429999113084,
+              -0.44122955203056335,
+              0.7688338160514832
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108497835468459
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "89f6ba6869c86d5ca1203e73a8069d2bcebdaa16d940b92004e362a66b273e51",
+    "visual_seed": 7943199205326640634,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ba1d7162300c57f5fbd2c6edf71763c7d979b28
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3674902665957121,
+              0.29853460225724915,
+              1.0507992098973606
+            ],
+            "current_z": 1.0507992098973606,
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+            "lift_margin": 0.19421282169808485,
+            "gripper_z": 1.0503268305508842,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36150852285951596,
+              0.2932600309335283,
+              1.0503268305508842
+            ],
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+              0.005981743736196143,
+              0.005274571323720834,
+              0.0004723793464764814
+            ],
+            "object_to_gripper_xy": 0.00797510882524746,
+            "object_to_gripper_z": 0.0004723793464764814,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3674902665957121,
+              0.27345053303910877,
+              1.0507992098973606
+            ],
+            "finger_b": [
+              0.3550529560463015,
+              0.29853460225724915,
+              1.0507992098973606
+            ],
+            "finger_midpoint": [
+              0.3612716113210068,
+              0.28599256764817893,
+              1.0507992098973606
+            ],
+            "object_minus_finger_midpoint": [
+              0.006218655274705276,
+              0.012542034609070218,
+              0.0
+            ],
+            "finger_gap": 0.027998164622755867,
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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": 1.0507992098973606,
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+            "fingertip_min_top_clearance": 0.013753201759294908,
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+            "object_to_finger_line_xy": 0.01114281464204834,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880774160853395,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3670149589410947,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3675747049307686,
+              0.2970109833533285,
+              1.2393235806119127
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+            "held_position": [
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+              0.3018806302764771,
+              1.2396889314645572
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00798838577990202,
+            "max_held_gripper_dist": 0.00798970173120974,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00036535085264444156,
+            "max_held_gripper_z_dist": 0.00048593023993337425,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08959152594670011,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3738966796987412,
+              0.2759929818651253,
+              1.2396889314645572
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+              0.3018806302764771,
+              1.2396889314645572
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+              0.36850765907630356,
+              0.2889368060708012,
+              1.2396889314645572
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+            "held_grasp_object_position": [
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+              0.3018806302764771,
+              1.2396889314645572
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+            "held_grasp_finger_gap": 0.028041692412299226,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025397168282112505,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04302412474191615,
+              -0.998966134821479,
+              0.014682852925333667
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004830940781594765,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03203792503376149,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+            },
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.26035169101956374,
+              -0.3782076316364553,
+              0.8470197663945543
+            ],
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+              0.253600585474569,
+              -0.38088258111553625,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007261734007473296,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18650952822683692,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197663945543,
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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",
+            "release_finger_gap": 0.07563255760856546,
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.053617881922353644,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.244786698047032,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008061051368713379,
+            "max_z_decrease": 0.008061051368713379,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035098576360338266,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008061051368713379,
+            "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": 0.021057314973904173,
+            "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": 0.008061051368713379,
+            "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": 0.008061061179516077,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10930050909519193,
+              -0.4371440410614014,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10930050909519193,
+              -0.4371440410614014,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10970052473341246,
+              -0.4359498020710894,
+              0.8071650443078423
+            ],
+            "closest_button": [
+              0.10928883403539655,
+              -0.4371380805969239,
+              0.7720890045166016
+            ],
+            "closest_ee_minus_button": [
+              0.0004116906980159152,
+              0.0011882785258344741,
+              0.03507603979124074
+            ],
+            "button_min_z_position": [
+              0.10929457098245617,
+              -0.43713295459747314,
+              0.7687478065490723
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+            "min_active_finger_to_button": 0.14534892854750073,
+            "closest_active_finger": [
+              -0.017619498074054718,
+              -0.49900487065315247,
+              0.8111098408699036
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+            "closest_active_finger_button": [
+              0.1093032285571098,
+              -0.4371410310268402,
+              0.7766163945198059
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12692272663116452,
+              -0.061863839626312256,
+              0.034493446350097656
+            ],
+            "min_contact_pad_to_button": 0.021057314973904173,
+            "closest_contact_pad": [
+              0.10929457098245617,
+              -0.43713295459747314,
+              0.7898051215229764
+            ],
+            "closest_contact_pad_button": [
+              0.10929457098245617,
+              -0.43713295459747314,
+              0.7687478065490723
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021057314973904173
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3538c7c69a51dc24f056ad9209debb146e954e1c826069bd734c63d90dd643c1",
+    "visual_seed": 2065125452055039975,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57b399c5dd7fc54a489557eff5e34defa349faff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_83_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.29664420680411957,
+              1.0521196226896155
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+            "lift_margin": 0.19553317488569466,
+            "gripper_z": 1.0507465082204543,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3646281244479964,
+              0.29119222975773573,
+              1.0507465082204543
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+              0.006134063137460344,
+              0.005451977046383838,
+              0.0013731144691611075
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+            "object_to_gripper_xy": 0.008206752359407836,
+            "object_to_gripper_z": 0.0013731144691611075,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37076218758545676,
+              0.2715779264483987,
+              1.0521196226896155
+            ],
+            "finger_b": [
+              0.35790732490164656,
+              0.29664420680411957,
+              1.0521196226896155
+            ],
+            "finger_midpoint": [
+              0.36433475624355166,
+              0.2841110666262591,
+              1.0521196226896155
+            ],
+            "object_minus_finger_midpoint": [
+              0.006427431341905099,
+              0.012533140177860447,
+              0.0
+            ],
+            "finger_gap": 0.028170301835287726,
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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": 1.0521196226896155,
+            "object_top_z": 1.0988887125393232,
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+            "fingertip_min_top_clearance": 0.014030726954912353,
+            "object_projection_between_fingers": 0.791765884249616,
+            "object_to_finger_line_xy": 0.011438414605946686,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04975420486151384,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8438639236653345,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9eb0ed4cf8678b743fdea996a6af55a228c08a8a00b577c18dc7b00bcaa200a7",
+    "visual_seed": 5631694790089430354,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86b534edc386fb2d6e8437cfc79dbc95bf56d5fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+              0.2976691411907996,
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+              0.005241329234990877,
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+              0.27251555539186795,
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+              0.2850923482913338,
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+            "stable_success_frames": 230,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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,
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "force_virtual_attach": 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
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008155226707458496,
+            "max_z_decrease": 0.008155226707458496,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505024527543809,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008155226707458496,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02112653802187316,
+            "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": 0.008155226707458496,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008155254141901104,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1131872534751892,
+              -0.44148388504982,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1131872534751892,
+              -0.44148388504982,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11198714162181925,
+              -0.44327980446355997,
+              0.8036359938321215
+            ],
+            "closest_button": [
+              0.1131937950849533,
+              -0.44146376848220825,
+              0.7686536312103271
+            ],
+            "closest_ee_minus_button": [
+              -0.001206653463134047,
+              -0.0018160359813517157,
+              0.03498236262179433
+            ],
+            "button_min_z_position": [
+              0.1131937950849533,
+              -0.44146376848220825,
+              0.7686536312103271
+            ],
+            "min_active_finger_to_button": 0.1469120806451206,
+            "closest_active_finger": [
+              -0.029105305671691895,
+              -0.4297187328338623,
+              0.8108131289482117
+            ],
+            "closest_active_finger_button": [
+              0.1131894141435623,
+              -0.4414815306663513,
+              0.7762153148651123
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1422947198152542,
+              0.011762797832489014,
+              0.034597814083099365
+            ],
+            "min_contact_pad_to_button": 0.02112653802187316,
+            "closest_contact_pad": [
+              0.1131937950849533,
+              -0.44423820277856313,
+              0.7895972011812004
+            ],
+            "closest_contact_pad_button": [
+              0.1131937950849533,
+              -0.44146376848220825,
+              0.7686536312103271
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027744342963548774,
+              0.02094356997087321
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d146d81065837178331d00297cbf5942c935f240d38998271a01e397f8aef2b9",
+    "visual_seed": 2548253561058278490,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b449211da8cd62f3fb781299c6f1db801cac5c1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_86_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3658572946478759,
+              0.29151839422535897,
+              1.0490711373036443
+            ],
+            "current_z": 1.0490711373036443,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19248457029043398,
+            "gripper_z": 1.047834533648681,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36027760867665276,
+              0.2863125881500657,
+              1.047834533648681
+            ],
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+              0.005579685971223158,
+              0.005205806075293251,
+              0.001236603654963364
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+            "object_to_gripper_z": 0.001236603654963364,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3658572946478759,
+              0.26690247661745553,
+              1.0490711373036443
+            ],
+            "finger_b": [
+              0.3532636555186226,
+              0.29151839422535897,
+              1.0490711373036443
+            ],
+            "finger_midpoint": [
+              0.3595604750832493,
+              0.2792104354214072,
+              1.0490711373036443
+            ],
+            "object_minus_finger_midpoint": [
+              0.006296819564626632,
+              0.012307958803951746,
+              0.0
+            ],
+            "finger_gap": 0.027650373346429717,
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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": 0.7925561856034163,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847885853810084,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7447078523213376,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3668842077985171,
+              0.28866827429653197,
+              1.2373885207900237
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+            "held_position": [
+              0.3730082594309373,
+              0.29330232717932586,
+              1.2384870417607596
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
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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",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2580450112793758,
+              -0.38526467745646364,
+              0.8470191557626012
+            ],
+            "target_position": [
+              0.25264887261864677,
+              -0.38649313517138556,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005534204622451683,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18476754144690177,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191557626012,
+            "min_z": 0.5730800627579278,
+            "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": 0.0756365448199839,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527475673037306,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15292376589729811,
+            "release_required_pad_clearance": 0.05263737836518653,
+            "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": 0.33101253112500945,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007889330387115479,
+            "max_z_decrease": 0.007889330387115479,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035153462119316525,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007889330387115479,
+            "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": 0.02108403846463187,
+            "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": 0.007889330387115479,
+            "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": 0.007889354112476833,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10834880173206331,
+              -0.4427545964717865,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10834880173206331,
+              -0.4427545964717865,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11023363563002508,
+              -0.4418697041137381,
+              0.8076987989013084
+            ],
+            "closest_button": [
+              0.10833900421857835,
+              -0.44274902343749994,
+              0.7726074457168579
+            ],
+            "closest_ee_minus_button": [
+              0.0018946314114467316,
+              0.0008793193237618402,
+              0.03509135318445045
+            ],
+            "button_min_z_position": [
+              0.1083299219608307,
+              -0.44275036454200745,
+              0.7689195275306702
+            ],
+            "min_active_finger_to_button": 0.14418440162122978,
+            "closest_active_finger": [
+              -0.017794877290725708,
+              -0.5034937262535095,
+              0.8109483122825623
+            ],
+            "closest_active_finger_button": [
+              0.10835066437721254,
+              -0.4427516758441925,
+              0.7764976620674133
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12614554166793823,
+              -0.06074205040931702,
+              0.034450650215148926
+            ],
+            "min_contact_pad_to_button": 0.02108403846463187,
+            "closest_contact_pad": [
+              0.1083299219608307,
+              -0.44306815878464023,
+              0.7900011708441651
+            ],
+            "closest_contact_pad_button": [
+              0.1083299219608307,
+              -0.44275036454200745,
+              0.7689195275306702
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003177942426327851,
+              0.021081643313494935
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e300479ea43d3bb9e166de72446f596b8993d62e229c60393500ee8ac71a3e8c",
+    "visual_seed": 4806894903329393444,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2add510c083ef018cc020d8fc59ef0938f2963b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_87_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
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+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007932960987091064,
+            "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": 0.021091496000442533,
+            "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": 0.007932960987091064,
+            "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": 0.007932988358231058,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10939860343933104,
+              -0.4415018558502197,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10939860343933104,
+              -0.4415018558502197,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10973424966892434,
+              -0.44118620051009233,
+              0.8075753508158173
+            ],
+            "closest_button": [
+              0.1093885377049446,
+              -0.44149550795555115,
+              0.7724950313568115
+            ],
+            "closest_ee_minus_button": [
+              0.0003457119639797418,
+              0.0003093074454588174,
+              0.035080319459005804
+            ],
+            "button_min_z_position": [
+              0.10937841981649399,
+              -0.44149667024612427,
+              0.7688758969306946
+            ],
+            "min_active_finger_to_button": 0.14579142010117013,
+            "closest_active_finger": [
+              -0.017650753259658813,
+              -0.5041350722312927,
+              0.810945987701416
+            ],
+            "closest_active_finger_button": [
+              0.10940096527338027,
+              -0.4414987564086914,
+              0.7764540910720825
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270517185330391,
+              -0.06263631582260132,
+              0.034491896629333496
+            ],
+            "min_contact_pad_to_button": 0.021091496000442533,
+            "closest_contact_pad": [
+              0.10937841981649399,
+              -0.44224959510228906,
+              0.789953949679885
+            ],
+            "closest_contact_pad_button": [
+              0.10937841981649399,
+              -0.44149667024612427,
+              0.7688758969306946
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007529248561647939,
+              0.02107805274919039
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2fbcb41c6efd2e3669f5d31eeb08b003667cf76cf76a1de33dc9f4ecb886e6c3",
+    "visual_seed": 8779791929614295457,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdde164706d18672d61f713976f3cfe2cc30bf19
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_88_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3706983719852268,
+              0.2883692516697507,
+              1.0482469644983663
+            ],
+            "current_z": 1.0482469644983663,
+            "required_z": 0.8565863881992761,
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+            "lift_margin": 0.19166057629909017,
+            "gripper_z": 1.0477051943408793,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36475453707474936,
+              0.28313059208525293,
+              1.0477051943408793
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+              0.005943834910477452,
+              0.005238659584497762,
+              0.0005417701574870204
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+            "object_to_gripper_xy": 0.007922924187776932,
+            "object_to_gripper_z": 0.0005417701574870204,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3706983719852268,
+              0.26332201732425986,
+              1.0482469644983663
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+            "finger_b": [
+              0.3583023434073872,
+              0.2883692516697507,
+              1.0482469644983663
+            ],
+            "finger_midpoint": [
+              0.364500357696307,
+              0.2758456344970053,
+              1.0482469644983663
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061980142889198064,
+              0.012523617172745416,
+              0.0
+            ],
+            "finger_gap": 0.027946832966555476,
+            "fingertip_max_gap": 0.09326795672420449,
+            "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": 0.8032567056490206,
+            "object_to_finger_line_xy": 0.011109889736490542,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049133978362102246,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6637525552484882,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3706594734036148,
+              0.28677035986548505,
+              1.23634795521897
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+            "held_position": [
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007941070945810728,
+            "max_held_gripper_dist": 0.007942116875954619,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00042319852956040904,
+            "max_held_gripper_z_dist": 0.000551543219121875,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08964107354829132,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37692883116699444,
+              0.2658097351379922,
+              1.2367711537485304
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+            "held_grasp_finger_b": [
+              0.3661449539756289,
+              0.2916259405728494,
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+              0.37153689257131167,
+              0.2787178378554208,
+              1.2367711537485304
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+            "held_grasp_object_position": [
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+              0.2916259405728494,
+              1.2367711537485304
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+            "held_grasp_finger_gap": 0.027977999755758157,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025414207698823646,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03538952468263146,
+              -0.9992112919907372,
+              0.018010427561254816
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004937306876993078,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032111484828360654,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "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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+            },
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2628126703808944,
+              -0.3791675955144231,
+              0.8470194862289198
+            ],
+            "target_position": [
+              0.2548205456585234,
+              -0.38236690908630605,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00860869705060923,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18674688009821097,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194862289198,
+            "min_z": 0.5730800627579278,
+            "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": 0.075195356179067,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08533849987323237,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1562389546255256,
+            "release_required_pad_clearance": 0.05266924993661619,
+            "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": 0.39564699962638095,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007787525653839111,
+            "max_z_decrease": 0.007787525653839111,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035169678199379,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007787525653839111,
+            "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": 0.021295692467536896,
+            "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": 0.007787525653839111,
+            "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": 0.007787547796393361,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11052047461271287,
+              -0.43862837553024286,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11052047461271287,
+              -0.43862837553024286,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.10850154229368925,
+              -0.44071773937939274,
+              0.8078426688928064
+            ],
+            "closest_button": [
+              0.11051244288682938,
+              -0.43862220644950867,
+              0.7727931141853333
+            ],
+            "closest_ee_minus_button": [
+              -0.0020109005931401303,
+              -0.0020955329298840697,
+              0.035049554707473174
+            ],
+            "button_min_z_position": [
+              0.11050287634134293,
+              -0.4386224448680877,
+              0.7690213322639465
+            ],
+            "min_active_finger_to_button": 0.14792440800429946,
+            "closest_active_finger": [
+              -0.032463401556015015,
+              -0.42292898893356323,
+              0.8110222816467285
+            ],
+            "closest_active_finger_button": [
+              0.11052081733942032,
+              -0.43862769007682795,
+              0.7765158414840698
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14298421889543533,
+              0.015698701143264715,
+              0.03450644016265869
+            ],
+            "min_contact_pad_to_button": 0.021295692467536896,
+            "closest_contact_pad": [
+              0.11050287634134293,
+              -0.44198053137640486,
+              0.7900505921813703
+            ],
+            "closest_contact_pad_button": [
+              0.11050287634134293,
+              -0.4386224448680877,
+              0.7690213322639465
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0033580865083171485,
+              0.02102925991742377
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "714a3da5b36fdff22cfb298879e118ce88331a89a4c243ae16afab73a653a6de",
+    "visual_seed": 2942525341742678009,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..563e2a346c8ea7542f7dc5fefc16f09efedccc78
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_8_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.36653039512578356,
+              0.2954557722784324,
+              1.0515078692321438
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+            "lift_margin": 0.19492136182357844,
+            "gripper_z": 1.050291079274998,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3609790876941114,
+              0.2902731112788732,
+              1.050291079274998
+            ],
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+              0.005551307431672148,
+              0.005182660999559219,
+              0.001216789957145803
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+            "object_to_gripper_z": 0.001216789957145803,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.36653039512578356,
+              0.2707670111009367,
+              1.0515078692321438
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+            "finger_b": [
+              0.3541181385263983,
+              0.2954557722784324,
+              1.0515078692321438
+            ],
+            "finger_midpoint": [
+              0.3603242668260909,
+              0.2831113916896846,
+              1.0515078692321438
+            ],
+            "object_minus_finger_midpoint": [
+              0.006206128299692637,
+              0.012344380588747816,
+              0.0
+            ],
+            "finger_gap": 0.02763329590129273,
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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": 1.0993888207360714,
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+            "object_projection_between_fingers": 0.7982395140110006,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050097097060767745,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8022211606992198,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5665914127f149497d4140854840c29647441c7a61fe8e87b6a297ae0690f5f1",
+    "visual_seed": 7841925125340847393,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..300930963c5fcedc15cf2962217f6f2dfc999b8a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_90_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.297839783999227,
+              1.048794967310971
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+              0.364426991829779,
+              0.2926826676205399,
+              1.0473436030424066
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+              0.005157116378687099,
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+            "object_to_gripper_z": 0.0014513642685645145,
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+              0.2730011963122396,
+              1.048794967310971
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+              0.28542049015573334,
+              1.048794967310971
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+              0.012419293843493662,
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+            "fingertip_xy_max_dist": 0.055,
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+            "object_upright_reference_source": "scene_initial",
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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": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
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+            ],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29546300427682015,
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+            "max_held_gripper_dist": 0.00782661410958692,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.30007897084283947,
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+              0.28707821869673206,
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+              0.30007897084283947,
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+            "held_grasp_finger_gap": 0.027857199591278994,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024982445491403927,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9956037545244297,
+              0.02414467663417863
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+            "held_grasp_object_to_finger_line_xy": 0.0038149458295432663,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "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,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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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+            "min_z": 0.5730800627579278,
+            "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": 0.07535468704727213,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525015328249093,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15315610296809334,
+            "release_required_pad_clearance": 0.052625076641245466,
+            "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": 0.3064502450758442,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007872581481933594,
+            "max_z_decrease": 0.007872581481933594,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511818541132857,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007872581481933594,
+            "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": 0.021084052638337902,
+            "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": 0.007872581481933594,
+            "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": 0.007872608302680634,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11037673801183698,
+              -0.4393529891967773,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11037673801183698,
+              -0.4393529891967773,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11073960112467673,
+              -0.4376677547991887,
+              0.8076086468551831
+            ],
+            "closest_button": [
+              0.11036653071641919,
+              -0.43934628367424006,
+              0.77253258228302
+            ],
+            "closest_ee_minus_button": [
+              0.000373070408257542,
+              0.0016785288750513772,
+              0.03507606457216306
+            ],
+            "button_min_z_position": [
+              0.11035683006048198,
+              -0.439347892999649,
+              0.768936276435852
+            ],
+            "min_active_finger_to_button": 0.14517866711948474,
+            "closest_active_finger": [
+              -0.01593143492937088,
+              -0.5020453333854675,
+              0.8110119700431824
+            ],
+            "closest_active_finger_button": [
+              0.11037943512201306,
+              -0.43934994935989374,
+              0.7764909863471985
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12631087005138394,
+              -0.06269538402557379,
+              0.03452098369598389
+            ],
+            "min_contact_pad_to_button": 0.021084052638337902,
+            "closest_contact_pad": [
+              0.11035683006048198,
+              -0.439347892999649,
+              0.79002032907419
+            ],
+            "closest_contact_pad_button": [
+              0.11035683006048198,
+              -0.439347892999649,
+              0.768936276435852
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021084052638337902
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f6b71a7b2f47e83cedef80270263cd2bb5c9b0d3c42fa9972fe69a00fec05e5",
+    "visual_seed": 5661330128659149313,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..71fd5e68eb163568eb9e19ee48ae11b0e536f5ab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_91_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3701045411214597,
+              0.2880299706866109,
+              1.0475617314625412
+            ],
+            "current_z": 1.0475617314625412,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.19097534326326504,
+            "gripper_z": 1.0478956098174017,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3643494112700055,
+              0.28279089202168056,
+              1.0478956098174017
+            ],
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+              0.00575512985145421,
+              0.005239078664930341,
+              -0.0003338783548605395
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+            "object_to_gripper_xy": 0.007782638682633779,
+            "object_to_gripper_z": -0.0003338783548605395,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3701045411214597,
+              0.26311347073537644,
+              1.0475617314625412
+            ],
+            "finger_b": [
+              0.357708178847398,
+              0.2880299706866109,
+              1.0475617314625412
+            ],
+            "finger_midpoint": [
+              0.36390635998442883,
+              0.2755717207109937,
+              1.0475617314625412
+            ],
+            "object_minus_finger_midpoint": [
+              0.006198181137030856,
+              0.01245824997561723,
+              0.0
+            ],
+            "finger_gap": 0.027829871854711214,
+            "fingertip_max_gap": 0.09174398244640322,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013914935927355607,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475617314625412,
+            "object_top_z": 1.0929558452328811,
+            "finger_top_clearance": 0.04539411377033997,
+            "fingertip_min_top_clearance": 0.013618234131101992,
+            "object_projection_between_fingers": 0.8015888354447545,
+            "object_to_finger_line_xy": 0.011098648301711615,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837199122320161,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6702675821727158,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb27db25a6c30c54b6a18f79be80203855d7202
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_92_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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
+            },
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+            "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
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+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "reason": "executed",
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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": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+              ],
+              "ignored_prim_substrings": [
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+                "ground",
+                "groundplane",
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+    {
+      "step_index": 3,
+      "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": 0.008046746253967285,
+            "max_z_decrease": 0.008046746253967285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511314217647962,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008046746253967285,
+            "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": 0.0210813010253676,
+            "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": 0.008046746253967285,
+            "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": 0.008046760532766995,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.10884546488523485,
+              -0.4403783679008484,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.10884546488523485,
+              -0.4403783679008484,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1104703464822675,
+              -0.44022264313039877,
+              0.8073327465103769
+            ],
+            "closest_button": [
+              0.10883463174104693,
+              -0.4403722584247589,
+              0.7722580432891846
+            ],
+            "closest_ee_minus_button": [
+              0.0016357147412205675,
+              0.0001496152943601392,
+              0.03507470322119233
+            ],
+            "button_min_z_position": [
+              0.1088334694504738,
+              -0.4403690993785858,
+              0.7687621116638184
+            ],
+            "min_active_finger_to_button": 0.14466691907879567,
+            "closest_active_finger": [
+              -0.030948735773563385,
+              -0.42673054337501526,
+              0.8110011219978333
+            ],
+            "closest_active_finger_button": [
+              0.10884840786457065,
+              -0.4403748512268067,
+              0.7763729691505432
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13979714363813403,
+              0.013644307851791437,
+              0.03462815284729004
+            ],
+            "min_contact_pad_to_button": 0.0210813010253676,
+            "closest_contact_pad": [
+              0.1088334694504738,
+              -0.4410637968035209,
+              0.7898319633104236
+            ],
+            "closest_contact_pad_button": [
+              0.1088334694504738,
+              -0.4403690993785858,
+              0.7687621116638184
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000694697424935109,
+              0.021069851646605242
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "39c80db8caeacfcea3599cf5459ee0ca3e0a498f6935d31813ab10677e607481",
+    "visual_seed": 7875279966264222658,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c05ed5e57db7eb53393d883991efccc6259c8546
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_95_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3725037184489927,
+              0.29306840019079256,
+              1.0510415797578037
+            ],
+            "current_z": 1.0510415797578037,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19445513195388286,
+            "gripper_z": 1.0493826717552848,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36697201171029603,
+              0.2878462666480937,
+              1.0493826717552848
+            ],
+            "object_minus_gripper": [
+              0.0055317067386966845,
+              0.005222133542698848,
+              0.0016589080025188885
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+            "object_to_gripper_xy": 0.00760726351461041,
+            "object_to_gripper_z": 0.0016589080025188885,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3725037184489927,
+              0.2684761332901163,
+              1.0510415797578037
+            ],
+            "finger_b": [
+              0.3599205604057522,
+              0.29306840019079256,
+              1.0510415797578037
+            ],
+            "finger_midpoint": [
+              0.36621213942737246,
+              0.2807722667404544,
+              1.0510415797578037
+            ],
+            "object_minus_finger_midpoint": [
+              0.006291579021620253,
+              0.012296133450338143,
+              0.0
+            ],
+            "finger_gap": 0.027624544478692562,
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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": 1.096488239598835,
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+            "object_projection_between_fingers": 0.7925138787940839,
+            "object_to_finger_line_xy": 0.011201936064192671,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04774336476943876,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.17832037035026926,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37349716802544863,
+              0.291111967794648,
+              1.2389082210536226
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+            "held_position": [
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+              1.240439327011915
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077881536159920915,
+            "max_held_gripper_dist": 0.007790305336627571,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015311059582923114,
+            "max_held_gripper_z_dist": 0.001670576423489889,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0896499579028201,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37954483127655175,
+              0.26987772314387304,
+              1.240439327011915
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+            "held_grasp_finger_b": [
+              0.36942534058476295,
+              0.29577424411550557,
+              1.240439327011915
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+              0.2828259836296893,
+              1.240439327011915
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+            "held_grasp_object_position": [
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+              0.29577424411550557,
+              1.240439327011915
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+            "held_grasp_finger_gap": 0.02780348701683664,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024779358804795475,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09785245746605245,
+              -0.9950979849965277,
+              0.014314217537286344
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037731742558963096,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03182032853091666,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "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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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2618646256418164,
+              -0.3841678456837198,
+              0.8470196424787191
+            ],
+            "target_position": [
+              0.25588198690937436,
+              -0.38582172289159683,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0062070343982976875,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18464128553641931,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196424787191,
+            "min_z": 0.5730800627579278,
+            "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": 0.07522503449584318,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637820711882725,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537725688518669,
+            "release_required_pad_clearance": 0.05318910355941363,
+            "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": 1.4010677801979854,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007959604263305664,
+            "max_z_decrease": 0.007959604263305664,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035125220025270985,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007959604263305664,
+            "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": 0.021055661519191027,
+            "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": 0.007959604263305664,
+            "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": 0.007959629002107189,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11158191412687299,
+              -0.44208317995071406,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11158191412687299,
+              -0.44208317995071406,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1097055618354349,
+              -0.4409682930575898,
+              0.807601819636166
+            ],
+            "closest_button": [
+              0.11157407611608501,
+              -0.4420765936374664,
+              0.7725438475608826
+            ],
+            "closest_ee_minus_button": [
+              -0.001868514280650116,
+              0.0011083005798765977,
+              0.03505797207528338
+            ],
+            "button_min_z_position": [
+              0.11156293004751203,
+              -0.4420773983001709,
+              0.76884925365448
+            ],
+            "min_active_finger_to_button": 0.14738352574629027,
+            "closest_active_finger": [
+              -0.017439424991607666,
+              -0.5044159889221191,
+              0.810905396938324
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+            "closest_active_finger_button": [
+              0.11158352345228191,
+              -0.44208154082298273,
+              0.7764177322387695
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12902294844388956,
+              -0.06233444809913641,
+              0.03448766469955444
+            ],
+            "min_contact_pad_to_button": 0.021055661519191027,
+            "closest_contact_pad": [
+              0.11156293004751203,
+              -0.4420773983001709,
+              0.789904915173671
+            ],
+            "closest_contact_pad_button": [
+              0.11156293004751203,
+              -0.4420773983001709,
+              0.76884925365448
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021055661519191027
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea33b34e7dcbf743be6bef12d422403a1469fcbf0a802c6b77428afbee8c1924",
+    "visual_seed": 4431589980575262077,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b2c33fa5536e8bd877950868be6829be7412c47
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_96_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.2887663130343905,
+              1.049577302960462
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+            "lift_margin": 0.19299091476118602,
+            "gripper_z": 1.0480910442108744,
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+            "gripper_position": [
+              0.3657020863486717,
+              0.2836242224968466,
+              1.0480910442108744
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+              0.005440919456772664,
+              0.005142090537543886,
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+            "object_to_gripper_z": 0.0014862587495876323,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.37114300580544435,
+              0.26424030387918745,
+              1.049577302960462
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+            "finger_b": [
+              0.358649350660633,
+              0.2887663130343905,
+              1.049577302960462
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+            "finger_midpoint": [
+              0.36489617823303866,
+              0.27650330845678894,
+              1.049577302960462
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+              0.006246827572405689,
+              0.012263004577601544,
+              0.0
+            ],
+            "finger_gap": 0.027524835039625096,
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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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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 0.6781106370168444,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+              "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "899afc27f74cff137d3e5ad61f9859578bed7f866a70200811edb88cc050eb15",
+    "visual_seed": 4098164598382638348,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bb76d1e35148c30580f5aa407e067f4944be71b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.2947332382421264,
+              1.049188207970419
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+            "gripper_z": 1.049073819049581,
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+              0.3602562909731609,
+              0.2894867823920513,
+              1.049073819049581
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+              0.005246455850075105,
+              0.00011438892083792673
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+            "object_to_gripper_z": 0.00011438892083792673,
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+              0.2694864382670203,
+              1.049188207970419
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+              0.28210983825457336,
+              1.049188207970419
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+              0.012623399987553019,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802802979148239,
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+            "object_upright_reference_source": "scene_initial",
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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": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2934013484411745,
+              1.2376717736546292
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008028754724142929,
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+            "held_gripper_z_dist": 3.0532930059834484e-06,
+            "max_held_gripper_z_dist": 0.0001827659081803379,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08923055033419725,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2723967570710927,
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+              0.28534842440623864,
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+            "held_grasp_object_position": [
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+              0.2983000917413846,
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+            "held_grasp_finger_gap": 0.028068107956493546,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.999122995241019,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0048688268264823805,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518065266482164,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856530073413057,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15772016838713548,
+            "release_required_pad_clearance": 0.05282650367065285,
+            "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": 0.6977318286191441,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008092403411865234,
+            "max_z_decrease": 0.008092403411865234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035055001897332905,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008092403411865234,
+            "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": 0.021027490908874402,
+            "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": 0.008092403411865234,
+            "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": 0.008092423582607268,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11387736350297925,
+              -0.4356416463851928,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11387736350297925,
+              -0.4356416463851928,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11332338544004675,
+              -0.43533182151589006,
+              0.8037657334611712
+            ],
+            "closest_button": [
+              0.1138847693800926,
+              -0.4356251657009125,
+              0.7687164545059204
+            ],
+            "closest_ee_minus_button": [
+              -0.0005613839400458454,
+              0.000293344185022415,
+              0.035049278955250784
+            ],
+            "button_min_z_position": [
+              0.1138847693800926,
+              -0.4356251657009125,
+              0.7687164545059204
+            ],
+            "min_active_finger_to_button": 0.1462760677202739,
+            "closest_active_finger": [
+              -0.013635821640491486,
+              -0.4984806776046753,
+              0.8110259175300598
+            ],
+            "closest_active_finger_button": [
+              0.11387889087200162,
+              -0.43563947081565857,
+              0.7765633463859558
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1275147125124931,
+              -0.06284120678901672,
+              0.034462571144104004
+            ],
+            "min_contact_pad_to_button": 0.021027490908874402,
+            "closest_contact_pad": [
+              0.1138847693800926,
+              -0.43650467826141837,
+              0.789725543766969
+            ],
+            "closest_contact_pad_button": [
+              0.1138847693800926,
+              -0.4356251657009125,
+              0.7687164545059204
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008795125605058907,
+              0.021009089261048608
+            ]
+          },
+          "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": 7341333033982970114,
+    "physical_seed": 8543775924677074192,
+    "layout_id": "layout_00012",
+    "step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "workflow_spec_digest": "931cdccfc5bd69b3a012303beec200f50f0cbc3420157a7336a763c6780db61e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ee660cc1ec5677f6172f782a611298b06ebb45e65ef44175929f869b0b8fa1ef",
+    "visual_seed": 4997779913126107145,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..22e1112a224aa39c7882971848d8ec4402f6ad58
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_98_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3728136540027243,
+              0.29508216664470216,
+              1.049494326504164
+            ],
+            "current_z": 1.049494326504164,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19290769988630896,
+            "gripper_z": 1.0481509851661497,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3671883805166086,
+              0.28989493785050663,
+              1.0481509851661497
+            ],
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+              0.0056252734861156894,
+              0.005187228794195531,
+              0.0013433413380143922
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+            "object_to_gripper_xy": 0.007651865416807027,
+            "object_to_gripper_z": 0.0013433413380143922,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3728136540027243,
+              0.27031960306428404,
+              1.049494326504164
+            ],
+            "finger_b": [
+              0.360406709567902,
+              0.29508216664470216,
+              1.049494326504164
+            ],
+            "finger_midpoint": [
+              0.3666101817853131,
+              0.2827008848544931,
+              1.049494326504164
+            ],
+            "object_minus_finger_midpoint": [
+              0.006203472217411188,
+              0.012381281790209087,
+              0.0
+            ],
+            "finger_gap": 0.027696873926185576,
+            "fingertip_max_gap": 0.0930211164254103,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013848436963092825,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049494326504164,
+            "object_top_z": 1.0962809384220589,
+            "finger_top_clearance": 0.046786611917894794,
+            "fingertip_min_top_clearance": 0.014035983575368404,
+            "object_projection_between_fingers": 0.7993366001951825,
+            "object_to_finger_line_xy": 0.01109250636822007,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049010558212705155,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0917151862547514,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
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+      3829379865525735683,
+      1742170454347048747,
+      3967963344366819069,
+      136424949974134018
+    ],
+    "runtime_workflow_digest": "f6dc5a10aff747abb7c2520c9579bf8d38a6c9f35c0390845965640ded05feee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..422ece6198ede651a2076ffa1c89d2ff389abc47
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00012/results/episode_99_success.json
@@ -0,0 +1,933 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
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+          "target": "beaker_b",
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+              0.28912811591267384,
+              1.0503298537123278
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+            "lift_margin": 0.193743405908407,
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+              0.2839898479651761,
+              1.049058052096351
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+              0.005660332130859924,
+              0.005138267947497721,
+              0.001271801615976731
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+            "object_to_gripper_z": 0.001271801615976731,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.26432421140966783,
+              1.0503298537123278
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+            "finger_b": [
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+              0.28912811591267384,
+              1.0503298537123278
+            ],
+            "finger_midpoint": [
+              0.36463082906354016,
+              0.27672616366117087,
+              1.0503298537123278
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+              0.012401952251502979,
+              0.0
+            ],
+            "finger_gap": 0.02770084632219858,
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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": 0.8017777967468572,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858188591773836,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_plat/plat",
+                "a_name": "robot wrist3",
+                "b_name": "inspection_platform"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37185101983285557,
+              0.286347877155278,
+              1.237307913593612
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+              0.2909157661425996,
+              1.2384116013471982
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077491156424856975,
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+            "held_gripper_z_dist": 0.0011036877535861578,
+            "max_held_gripper_z_dist": 0.0012831433969939798,
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+              0.26488156744221214,
+              1.2384116013471982
+            ],
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+              0.29113608675837355,
+              1.2384116013471982
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+              0.3731096066772952,
+              0.27800882710029284,
+              1.2384116013471982
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+            "held_grasp_object_position": [
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+              0.2909157661425996,
+              1.2384116013471982
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+            "held_grasp_finger_gap": 0.028026007850668135,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025107916683398897,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10196039580346397,
+              -0.9944093215843672,
+              0.02746231661239739
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+            "held_grasp_object_to_finger_line_xy": 0.0035797220884386622,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03186553343986529,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "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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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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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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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582096982520625,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1561125794816284,
+            "release_required_pad_clearance": 0.052910484912603126,
+            "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": 0.8577425393463632,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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": {
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e927df03bff73d59b10c36a6ca9ec61b3ecf0b95
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/dataset/meta/randomization_episodes.jsonl
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3f65bbca84e1331de31239a602393a72f9e60876
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_hte_00013
+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 b from home. Shake the current contents of
+    beaker b once. Place beaker b on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00013
+  reproducibility:
+    enabled: true
+    layout_id: layout_00013
+    action_seed: 6120436585598675838
+    step_seeds:
+    - 5975741771095771893
+    - 3504213630932996537
+    - 7867242958540830227
+    - 6257227105719342557
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2925
+      - 0.2925
+      'y':
+      - 0.0892
+      - 0.0892
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1379
+      - 0.1379
+      'y':
+      - 0.2562
+      - 0.2562
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.343
+      - 0.343
+      'y':
+      - 0.3241
+      - 0.3241
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2095
+      - 0.2095
+      'y':
+      - -0.3828
+      - -0.3828
+      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_b
+    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: 0.3
+      gripper_distances: 0.019
+      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
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - 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
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+- prim_path: /World/Camera2
+  name: camera_2
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+  resolution:
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+  - 512
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+  orientation:
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+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
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+  - 1.16281
+  resolution:
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+  - 512
+  focal_length: 4
+  orientation:
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+  - 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_s04_pslr_hte_00013
+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_s04_pslr_hte_00013/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5309de6731a0470cf72b04628f3a9e3e4cfad58d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
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+                "robotiq_2f85",
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+                "mobile_translate_x",
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+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                "wrist_2_joint",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
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+                "left_inner_finger",
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+                "panda_leftfingertip",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008150279521942139,
+            "max_z_decrease": 0.008150279521942139,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035048146472552166,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008150279521942139,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02093561498578806,
+            "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": 0.008150279521942139,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00815037318066898,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1156135648488998,
+              -0.44289070367813105,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1156135648488998,
+              -0.44289070367813105,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11328794759291683,
+              -0.44286848749532637,
+              0.803627485374992
+            ],
+            "closest_button": [
+              0.1156433895230293,
+              -0.44286546111106867,
+              0.7686585783958435
+            ],
+            "closest_ee_minus_button": [
+              -0.002355441930112473,
+              -3.0263842576983002e-06,
+              0.03496890697914845
+            ],
+            "button_min_z_position": [
+              0.1156433895230293,
+              -0.44286546111106867,
+              0.7686585783958435
+            ],
+            "min_active_finger_to_button": 0.14798900348302252,
+            "closest_active_finger": [
+              -0.013019472360610962,
+              -0.50743168592453,
+              0.8112650513648987
+            ],
+            "closest_active_finger_button": [
+              0.11561604589223859,
+              -0.44288903474807734,
+              0.776799201965332
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12863551825284955,
+              -0.06454265117645269,
+              0.03446584939956665
+            ],
+            "min_contact_pad_to_button": 0.02093561498578806,
+            "closest_contact_pad": [
+              0.1156433895230293,
+              -0.443903336215526,
+              0.7895684514251257
+            ],
+            "closest_contact_pad_button": [
+              0.1156433895230293,
+              -0.44286546111106867,
+              0.7686585783958435
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001037875104457353,
+              0.020909873029282156
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85406e33c8af596417f50db28478c511b437ba1e082c1a3c7039ad891039b812",
+    "visual_seed": 7290947922810377073,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc24846fb0dbeb2e4cfbae8271d78000fa9cd13a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.15925931706010124,
+              0.26126525195819394,
+              1.0444511131166554
+            ],
+            "current_z": 1.0444511131166554,
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+            "lift_margin": 0.18786448649880028,
+            "gripper_z": 1.0499109892886924,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15512443793025812,
+              0.2570534045796522,
+              1.0499109892886924
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+              0.0041348791298431165,
+              0.004211847378541744,
+              -0.005459876172037026
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+            "object_to_gripper_xy": 0.005902277844912177,
+            "object_to_gripper_z": -0.005459876172037026,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.15925931706010124,
+              0.23714562613031792,
+              1.0444511131166554
+            ],
+            "finger_b": [
+              0.14883172248773255,
+              0.26126525195819394,
+              1.0444511131166554
+            ],
+            "finger_midpoint": [
+              0.1540455197739169,
+              0.24920543904425593,
+              1.0444511131166554
+            ],
+            "object_minus_finger_midpoint": [
+              0.005213797286184346,
+              0.012059812913938012,
+              0.0
+            ],
+            "finger_gap": 0.02627719693274831,
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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": 0.8425255127416352,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845652995076655,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1124172646891637,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2628209094335161,
+              1.2379343209857772
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+              0.26680859927270617,
+              1.2323660438047226
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008039223722113747,
+            "max_held_gripper_dist": 0.008045427111377021,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005568277181054571,
+            "max_held_gripper_z_dist": 0.005595813591640297,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08611425534196915,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2422933513353617,
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+              0.2545509753040339,
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+            "held_grasp_object_position": [
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+              1.2323660438047226
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+            "held_grasp_finger_gap": 0.026238156247797028,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024330740311942753,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.018816509069875004,
+              -0.9996511487695853,
+              0.018534285798809332
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004449931806645158,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "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"
+              ],
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+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2684627634859841,
+              -0.38404393867003994,
+              0.847019756712027
+            ],
+            "target_position": [
+              0.2633995556783652,
+              -0.38491933761972685,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005138326247353868,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1830420924938184,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019756712027,
+            "min_z": 0.5730800627579278,
+            "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": 0.0753148914637913,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08615255859212063,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15176726416007522,
+            "release_required_pad_clearance": 0.05307627929606032,
+            "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": 1.1803329037288215,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008081495761871338,
+            "max_z_decrease": 0.008081495761871338,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351646821092076,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008081495761871338,
+            "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": 0.021004633414608564,
+            "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": 0.008081495761871338,
+            "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": 0.008081511773418868,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11909948289394377,
+              -0.4411807954311371,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11909948289394377,
+              -0.4411807954311371,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11784126180707002,
+              -0.43927299082646054,
+              0.8077807127451733
+            ],
+            "closest_button": [
+              0.11909110099077223,
+              -0.4411728382110595,
+              0.7726896405220032
+            ],
+            "closest_ee_minus_button": [
+              -0.0012498391837022088,
+              0.0018998473845989738,
+              0.035091072223170094
+            ],
+            "button_min_z_position": [
+              0.11910660564899443,
+              -0.44116637110710144,
+              0.7687273621559143
+            ],
+            "min_active_finger_to_button": 0.14653250472532423,
+            "closest_active_finger": [
+              -0.009984269738197327,
+              -0.5013867020606995,
+              0.8106339573860168
+            ],
+            "closest_active_finger_button": [
+              0.11910095065832138,
+              -0.4411804378032684,
+              0.7762248516082764
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1290852203965187,
+              -0.060206264257431086,
+              0.03440910577774048
+            ],
+            "min_contact_pad_to_button": 0.021004633414608564,
+            "closest_contact_pad": [
+              0.11910660564899443,
+              -0.44116637110710144,
+              0.7897319955705229
+            ],
+            "closest_contact_pad_button": [
+              0.11910660564899443,
+              -0.44116637110710144,
+              0.7687273621559143
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021004633414608564
+            ]
+          },
+          "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": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6a68ad4cee4ccb02869e3d3ac57715cecbdea9c83fdf78ec4a504a13047e270",
+    "visual_seed": 1519412928244238585,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf9aa568916daf7e60eb5c9d57e0e6f671c8a886
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.1626838495121541,
+              0.25626113496519265,
+              1.0421879929079991
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+            "current_z": 1.0421879929079991,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18560154510407834,
+            "gripper_z": 1.047868655601818,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1585831208393408,
+              0.2520887859357569,
+              1.047868655601818
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+            "object_minus_gripper": [
+              0.004100728672813275,
+              0.004172349029435751,
+              -0.005680662693818839
+            ],
+            "object_to_gripper_xy": 0.005850168550688636,
+            "object_to_gripper_z": -0.005680662693818839,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1626838495121541,
+              0.23212792232998175,
+              1.0421879929079991
+            ],
+            "finger_b": [
+              0.15236600421463004,
+              0.25626113496519265,
+              1.0421879929079991
+            ],
+            "finger_midpoint": [
+              0.15752492686339206,
+              0.2441945286475872,
+              1.0421879929079991
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051589226487620266,
+              0.01206660631760545,
+              0.0
+            ],
+            "finger_gap": 0.02624633086128311,
+            "fingertip_max_gap": 0.09177980941015204,
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+              0.012919694185256902,
+              0.03457152843475342
+            ],
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+            "closest_contact_pad": [
+              0.11655723303556441,
+              -0.4385197735504201,
+              0.7897621229038199
+            ],
+            "closest_contact_pad_button": [
+              0.11655723303556441,
+              -0.4367179870605468,
+              0.768733561038971
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018017864898732805,
+              0.021028561864848916
+            ]
+          },
+          "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": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a19a12f59538f9850e470c359c41177f7dc77601ad85e28ccbb54533f35b77d9",
+    "visual_seed": 6863314245079557349,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8651af6f3fc3ac71a8680dfb6600230c0530fbb1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.2557526593752958,
+              1.0455596436873695
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+            "gripper_z": 1.0511613388907508,
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+            "gripper_position": [
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+              0.2513574758861606,
+              1.0511613388907508
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+              0.0043506782178463765,
+              0.0043951834891352015,
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+            "object_to_gripper_z": -0.005601695203381274,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23159870656617748,
+              1.0455596436873695
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+              0.2557526593752958,
+              1.0455596436873695
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+              0.24367568297073663,
+              1.0455596436873695
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+              0.012076976404559153,
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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_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "max_held_gripper_z_dist": 0.0057091981537420455,
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+            "held_object_xy_range": 0.08637177011852842,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2489235156283211,
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+            "held_grasp_object_position": [
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.024332979795054725,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9993789234460565,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004471331954404004,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "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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+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27117038904498214,
+              -0.3817329669588842,
+              0.8470201241353295
+            ],
+            "target_position": [
+              0.265780258758755,
+              -0.38284087960573243,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005502815182754132,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18582041622435894,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201241353295,
+            "min_z": 0.5730800627579278,
+            "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": 0.07523838269927881,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534872993877353,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1547159320457229,
+            "release_required_pad_clearance": 0.05267436496938677,
+            "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": 0.4054175387678642,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00821530818939209,
+            "max_z_decrease": 0.00821530818939209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501754178695333,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00821530818939209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021075671089088765,
+            "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": 0.00821530818939209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008215377989222433,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12148018181324007,
+              -0.4391023516654968,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12148018181324007,
+              -0.4391023516654968,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12073198553144862,
+              -0.4406818082426609,
+              0.8036353416532457
+            ],
+            "closest_button": [
+              0.12150299549102783,
+              -0.43908050656318665,
+              0.7686629295349121
+            ],
+            "closest_ee_minus_button": [
+              -0.0007710099595792108,
+              -0.001601301679474254,
+              0.03497241211833357
+            ],
+            "button_min_z_position": [
+              0.12150505930185318,
+              -0.4390793740749359,
+              0.7685935497283936
+            ],
+            "min_active_finger_to_button": 0.14640819580915804,
+            "closest_active_finger": [
+              -0.02016911655664444,
+              -0.42566168308258057,
+              0.8106083869934082
+            ],
+            "closest_active_finger_button": [
+              0.12147969007492065,
+              -0.4391006529331207,
+              0.7761066555976868
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1416488066315651,
+              0.013438969850540161,
+              0.034501731395721436
+            ],
+            "min_contact_pad_to_button": 0.021075671089088765,
+            "closest_contact_pad": [
+              0.12150505930185318,
+              -0.4417737974263466,
+              0.7894962766954384
+            ],
+            "closest_contact_pad_button": [
+              0.12150505930185318,
+              -0.4390793740749359,
+              0.7685935497283936
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026944233514106797,
+              0.02090272696704487
+            ]
+          },
+          "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": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba46e2151724e7821461bc3d96010b3789d4562ae426947dcfd305177a897739",
+    "visual_seed": 1100758043205332944,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cd7035164c87fb12e10899bd57ff977992e603e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16014494500593332,
+              0.2631935866785453,
+              1.0436872686270244
+            ],
+            "current_z": 1.0436872686270244,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.18710058240452454,
+            "gripper_z": 1.0492805094591973,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15585584025472843,
+              0.2588608661305928,
+              1.0492805094591973
+            ],
+            "object_minus_gripper": [
+              0.004289104751204892,
+              0.004332720547952529,
+              -0.00559324083217283
+            ],
+            "object_to_gripper_xy": 0.0060966291435069625,
+            "object_to_gripper_z": -0.00559324083217283,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16014494500593332,
+              0.23904201331568622,
+              1.0436872686270244
+            ],
+            "finger_b": [
+              0.1494098817525714,
+              0.2631935866785453,
+              1.0436872686270244
+            ],
+            "finger_midpoint": [
+              0.15477741337925235,
+              0.25111779999711575,
+              1.0436872686270244
+            ],
+            "object_minus_finger_midpoint": [
+              0.005367531626680966,
+              0.012075786681429557,
+              0.0
+            ],
+            "finger_gap": 0.02642990879581778,
+            "fingertip_max_gap": 0.09279451245773626,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013214954397908903,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0436872686270244,
+            "object_top_z": 1.0897223132135516,
+            "finger_top_clearance": 0.046035044586527185,
+            "fingertip_min_top_clearance": 0.013810513375958155,
+            "object_projection_between_fingers": 0.8350250951584054,
+            "object_to_finger_line_xy": 0.00980966940603025,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04889725622886813,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4069279994647392,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
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+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
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+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7988c0e2946bc693adfed65dd91289883c73679b7f22c3ae6fe3ae23d903a1a2",
+    "visual_seed": 8448351341983313387,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..527372942b1da31503ccf0761436b81b98dfc77e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              0.23141367879121907,
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+              0.24347236406546346,
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+            "stable_success_frames": 205,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+              0.26104862110381033,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.11869395620731053,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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"
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008134126663208008,
+            "max_z_decrease": 0.008134126663208008,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035048578932551186,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008134126663208008,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02095319231023161,
+            "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": 0.008134126663208008,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008134177108679882,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12309724092483522,
+              -0.43705883622169495,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12309724092483522,
+              -0.43705883622169495,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12418354521698363,
+              -0.4363618030647724,
+              0.8037005187951136
+            ],
+            "closest_button": [
+              0.12311474233865739,
+              -0.43703615665435797,
+              0.7686747312545776
+            ],
+            "closest_ee_minus_button": [
+              0.0010688028783262388,
+              0.0006743535895855635,
+              0.03502578754053598
+            ],
+            "button_min_z_position": [
+              0.12311474233865739,
+              -0.43703615665435797,
+              0.7686747312545776
+            ],
+            "min_active_finger_to_button": 0.14464036410680658,
+            "closest_active_finger": [
+              -0.002789728343486786,
+              -0.4994434416294098,
+              0.8111358284950256
+            ],
+            "closest_active_finger_button": [
+              0.12310083955526353,
+              -0.43705567717552185,
+              0.7767822742462158
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1258905678987503,
+              -0.06238776445388794,
+              0.034353554248809814
+            ],
+            "min_contact_pad_to_button": 0.02095319231023161,
+            "closest_contact_pad": [
+              0.12311474233865739,
+              -0.43753964593620426,
+              0.7896218734590077
+            ],
+            "closest_contact_pad_button": [
+              0.12311474233865739,
+              -0.43703615665435797,
+              0.7686747312545776
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005034892818462922,
+              0.020947142204430058
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f87dc7e841fe8fd4b11dcffffac63891e0544cb7bad62091c7dc06d0401bfd63",
+    "visual_seed": 4333557506112184336,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec52cc3efb454efe9a0208cf7f1bd01bd60fc318
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16368568866800007,
+              0.2575629109908135,
+              1.0446441155761443
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+            "lift_margin": 0.18805766777222355,
+            "gripper_z": 1.0503430821864488,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1593475298687385,
+              0.2532370027128233,
+              1.0503430821864488
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+              0.0043381587992615545,
+              0.004325908277990231,
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+            "object_to_gripper_z": -0.005698966610304446,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.16368568866800007,
+              0.23331159384594524,
+              1.0446441155761443
+            ],
+            "finger_b": [
+              0.15304103518552645,
+              0.2575629109908135,
+              1.0446441155761443
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+            "finger_midpoint": [
+              0.15836336192676326,
+              0.24543725241837938,
+              1.0446441155761443
+            ],
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+              0.00532232674123681,
+              0.01212565857243414,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009747048647763252,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811056925103706,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2231960921504221,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2590401298906849,
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+            "held_position": [
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+              0.26313559788136226,
+              1.2318392477337543
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008366499296913767,
+            "max_held_gripper_dist": 0.008370459080297392,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005809143170799169,
+            "max_held_gripper_z_dist": 0.0058363262420424444,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08621738487028674,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2385195238621121,
+              1.2318392477337543
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+              0.2508275608717372,
+              1.2318392477337543
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+            "held_grasp_object_position": [
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+              0.26313559788136226,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02446952271764634,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9998213942757322,
+              0.011611713111917554
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00458485116036738,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032823308877112614,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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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": [
+                {
+                  "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.272242507499046,
+              -0.3849801986189595,
+              0.8470196816139954
+            ],
+            "target_position": [
+              0.2662728338315526,
+              -0.3864769799462219,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006154458387056125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18673658262282933,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196816139954,
+            "min_z": 0.5730800627579278,
+            "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": 0.07549613008820656,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08679501041757816,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15517617674825118,
+            "release_required_pad_clearance": 0.05339750520878908,
+            "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": 1.8096434836310882,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008081018924713135,
+            "max_z_decrease": 0.008081018924713135,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512327017240177,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008081018924713135,
+            "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": 0.021134895253624646,
+            "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": 0.008081018924713135,
+            "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": 0.008081040895548423,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12197276204824446,
+              -0.4427384436130525,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12197276204824446,
+              -0.4427384436130525,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1202820898494156,
+              -0.44423541548559364,
+              0.8037773548328065
+            ],
+            "closest_button": [
+              0.1219796910881996,
+              -0.44272091984748846,
+              0.7687278389930725
+            ],
+            "closest_ee_minus_button": [
+              -0.0016976012387839995,
+              -0.0015144956381051844,
+              0.035049515839734036
+            ],
+            "button_min_z_position": [
+              0.1219796910881996,
+              -0.44272091984748846,
+              0.7687278389930725
+            ],
+            "min_active_finger_to_button": 0.14734756099223306,
+            "closest_active_finger": [
+              -0.020696431398391724,
+              -0.429857075214386,
+              0.8110364675521851
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+            "closest_active_finger_button": [
+              0.12197300046682356,
+              -0.44273835420608526,
+              0.7765283584594727
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1426694318652153,
+              0.012881278991699274,
+              0.0345081090927124
+            ],
+            "min_contact_pad_to_button": 0.021134895253624646,
+            "closest_contact_pad": [
+              0.1219796910881996,
+              -0.44526623940497995,
+              0.7897089053561518
+            ],
+            "closest_contact_pad_button": [
+              0.1219796910881996,
+              -0.44272091984748846,
+              0.7687278389930725
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025453195574914877,
+              0.02098106636307928
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fdb24b34814a04c4dae80466b339b23bdc8ad591980501a3d859e2415c5bfeaa",
+    "visual_seed": 6532955930121253843,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..14fdb145e6b99af2f8614af49d48e2b981eb1fd2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.1592697797404619,
+              0.25599728437904845,
+              1.0449321378070897
+            ],
+            "current_z": 1.0449321378070897,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1883457496078137,
+            "gripper_z": 1.0503311965776803,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15534370356237123,
+              0.2518937927198433,
+              1.0503311965776803
+            ],
+            "object_minus_gripper": [
+              0.003926076178090654,
+              0.00410349165920515,
+              -0.005399058770590548
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+            "object_to_gripper_xy": 0.00567914764320643,
+            "object_to_gripper_z": -0.005399058770590548,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1592697797404619,
+              0.23203194946786146,
+              1.0449321378070897
+            ],
+            "finger_b": [
+              0.14902924796982236,
+              0.25599728437904845,
+              1.0449321378070897
+            ],
+            "finger_midpoint": [
+              0.15414951385514214,
+              0.24401461692345494,
+              1.0449321378070897
+            ],
+            "object_minus_finger_midpoint": [
+              0.005120265885319747,
+              0.01198266745559351,
+              0.0
+            ],
+            "finger_gap": 0.026061576474780558,
+            "fingertip_max_gap": 0.09216023366438097,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013030788237390286,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449321378070897,
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+              0.12082662433385848,
+              -0.43905782699584966,
+              0.7687057256698608
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020201562289920982,
+              0.02097777033611703
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "67453ac7a93c180b3ffa3ac50a4b16c4faf5b462f9a949cfdfe41435c0f8399d",
+    "visual_seed": 7672303107450077497,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b89bc29d3d89cd93e5af3b465e2026df43a5cdaf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.004512837456638941,
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+              0.24648279725343458,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 209,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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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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+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005913041335534917,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18582996906968213,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195959954796,
+            "min_z": 0.5730800627579278,
+            "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": 0.07545089547179723,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498267263443017,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15434208184483225,
+            "release_required_pad_clearance": 0.05249133631721509,
+            "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": 0.05595284904613248,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0080299973487854,
+            "max_z_decrease": 0.0080299973487854,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035108179791851234,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0080299973487854,
+            "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": 0.02116189568517753,
+            "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": 0.0080299973487854,
+            "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": 0.008030017266171793,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11886144429445265,
+              -0.4354038238525391,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11886144429445265,
+              -0.4354038238525391,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11756578181990998,
+              -0.4367674392584498,
+              0.8075629167991701
+            ],
+            "closest_button": [
+              0.11885298043489455,
+              -0.4353973269462586,
+              0.7725051045417786
+            ],
+            "closest_ee_minus_button": [
+              -0.0012871986149845666,
+              -0.0013701123121911962,
+              0.035057812257391574
+            ],
+            "button_min_z_position": [
+              0.11884447932243346,
+              -0.43539816141128546,
+              0.7687788605690002
+            ],
+            "min_active_finger_to_button": 0.14734965990593107,
+            "closest_active_finger": [
+              -0.023845210671424866,
+              -0.42305952310562134,
+              0.8109369874000549
+            ],
+            "closest_active_finger_button": [
+              0.1188630014657974,
+              -0.4354018867015839,
+              0.7763833403587341
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14270821213722226,
+              0.01234236359596258,
+              0.0345536470413208
+            ],
+            "min_contact_pad_to_button": 0.02116189568517753,
+            "closest_contact_pad": [
+              0.11884447932243346,
+              -0.43763989219784644,
+              0.7898216852860129
+            ],
+            "closest_contact_pad_button": [
+              0.11884447932243346,
+              -0.43539816141128546,
+              0.7687788605690002
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022417307865609803,
+              0.021042824717012687
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86927857cacf040ae29231ff0041c3d07aee0f458a1d55f7a9cfb5fdb1cbf328",
+    "visual_seed": 8412355419180850558,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f313d3485ba99109144cc9810c2a7e145de3b5a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16542630532925412,
+              0.2568647079714355,
+              1.04273829754484
+            ],
+            "current_z": 1.04273829754484,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18615179013627448,
+            "gripper_z": 1.0481307425073518,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16107036296500993,
+              0.25254316755582185,
+              1.0481307425073518
+            ],
+            "object_minus_gripper": [
+              0.004355942364244192,
+              0.004321540415613667,
+              -0.005392444962511789
+            ],
+            "object_to_gripper_xy": 0.006135955137091505,
+            "object_to_gripper_z": -0.005392444962511789,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16542630532925412,
+              0.23260817886480428,
+              1.04273829754484
+            ],
+            "finger_b": [
+              0.15483854417147866,
+              0.2568647079714355,
+              1.04273829754484
+            ],
+            "finger_midpoint": [
+              0.16013242475036638,
+              0.2447364434181199,
+              1.04273829754484
+            ],
+            "object_minus_finger_midpoint": [
+              0.005293880578887744,
+              0.012128264553315615,
+              0.0
+            ],
+            "finger_gap": 0.02646658063738017,
+            "fingertip_max_gap": 0.09132456429436248,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01323329031869009,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04273829754484,
+            "object_top_z": 1.088045398146344,
+            "finger_top_clearance": 0.045307100601504,
+            "fingertip_min_top_clearance": 0.013592130180451233,
+            "object_projection_between_fingers": 0.8399658750624723,
+            "object_to_finger_line_xy": 0.009703646278163955,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816228214718124,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0695336288376058,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e89c350dadb2734e7327154f9a14fc992475aad4052546fbf3f64b641dd8f76f",
+    "visual_seed": 8347402830745427443,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd16da370fd4f608a0431d96112137165eaa6891
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              1.0490621114127747
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+              0.004268763006082754,
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+            "object_to_gripper_z": -0.005606609561696452,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2297393198906971,
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+              0.2417594323355417,
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+              1.0
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+            "stable_success_frames": 206,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2555072325027802,
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+              0.25953045625567855,
+              1.2337811688411093
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+            "held_shake_count": 5,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+              0.017076459610914196
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15127280636501883,
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 1.7086420911986517,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008064508438110352,
+            "max_z_decrease": 0.008064508438110352,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512829740613273,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008064508438110352,
+            "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": 0.02105069136635789,
+            "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": 0.008064508438110352,
+            "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": 0.008064522404495183,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1191994771361351,
+              -0.44370579719543457,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1191994771361351,
+              -0.44370579719543457,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1203639505861156,
+              -0.4434705323297513,
+              0.8038523951461165
+            ],
+            "closest_button": [
+              0.11919217556715012,
+              -0.44369268417358393,
+              0.7687443494796753
+            ],
+            "closest_ee_minus_button": [
+              0.0011717750189654819,
+              0.00022215184383261866,
+              0.03510804566644121
+            ],
+            "button_min_z_position": [
+              0.11919217556715012,
+              -0.44369268417358393,
+              0.7687443494796753
+            ],
+            "min_active_finger_to_button": 0.144743396452164,
+            "closest_active_finger": [
+              -0.020513251423835754,
+              -0.42820656299591064,
+              0.8110466599464417
+            ],
+            "closest_active_finger_button": [
+              0.11920080333948137,
+              -0.4437031745910644,
+              0.7765432000160217
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1397140547633171,
+              0.015496611595153753,
+              0.03450345993041992
+            ],
+            "min_contact_pad_to_button": 0.02105069136635789,
+            "closest_contact_pad": [
+              0.11919217556715012,
+              -0.44458036837281484,
+              0.7897763161914236
+            ],
+            "closest_contact_pad_button": [
+              0.11919217556715012,
+              -0.44369268417358393,
+              0.7687443494796753
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008876841992309092,
+              0.02103196671174834
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0516df163c3d93f8dcd26fcc1816588533c4f06169c095c805be646ee827272d",
+    "visual_seed": 5460248903587074966,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..db0693dfaf5293e8ce2e7c3562f259d99a95400e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16026543268837812,
+              0.26185494244898505,
+              1.0454620057523056
+            ],
+            "current_z": 1.0454620057523056,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18887549834374007,
+            "gripper_z": 1.05091152183614,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15635874739570157,
+              0.2577869082378556,
+              1.05091152183614
+            ],
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+              0.003906685292676543,
+              0.004068034211129445,
+              -0.0054495160838343715
+            ],
+            "object_to_gripper_xy": 0.005640132296226284,
+            "object_to_gripper_z": -0.0054495160838343715,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16026543268837812,
+              0.23778679208180473,
+              1.0454620057523056
+            ],
+            "finger_b": [
+              0.15015780218850364,
+              0.26185494244898505,
+              1.0454620057523056
+            ],
+            "finger_midpoint": [
+              0.15521161743844086,
+              0.24982086726539487,
+              1.0454620057523056
+            ],
+            "object_minus_finger_midpoint": [
+              0.005053815249937255,
+              0.012034075183590176,
+              0.0
+            ],
+            "finger_gap": 0.026104406839060627,
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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_to_finger_line_xy": 0.009319191668544769,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04935568529296931,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.331410430289247,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15958486346173703,
+              0.2638257777619898,
+              1.2403337216856773
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+            "held_position": [
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+              0.26771832180794214,
+              1.2348082295498828
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007841735730153798,
+            "max_held_gripper_dist": 0.007847561315658223,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005525492135794563,
+            "max_held_gripper_z_dist": 0.005551049737131164,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08541510080901937,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.16356102452099558,
+              0.24336370509516084,
+              1.2348082295498828
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+              0.2555410134515515,
+              1.2348082295498828
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+            "held_grasp_object_position": [
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+              0.26771832180794214,
+              1.2348082295498828
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+            "held_grasp_finger_gap": 0.02605713338538096,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02424132083387791,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.011167271909077731,
+              -0.9995960039670665,
+              0.026136581474651803
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00450716213639682,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03297610783850401,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2647405800000339,
+              -0.38471519059729337,
+              0.8470198941135647
+            ],
+            "target_position": [
+              0.26055996086742184,
+              -0.3852385156755569,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004213246428765085,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18616122928060758,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198941135647,
+            "min_z": 0.5730800627579278,
+            "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": 0.07536016926207878,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867026894295143,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15470582502156782,
+            "release_required_pad_clearance": 0.05335134471475715,
+            "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": 1.7186905340427878,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008180797100067139,
+            "max_z_decrease": 0.008180797100067139,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035041248869795316,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008180797100067139,
+            "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": 0.021135005744746558,
+            "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": 0.008180797100067139,
+            "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": 0.00818087691810594,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11625988781452179,
+              -0.4414999783039093,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11625988781452179,
+              -0.4414999783039093,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11527956014807356,
+              -0.4433691731823486,
+              0.8036036309800275
+            ],
+            "closest_button": [
+              0.11628704518079756,
+              -0.44147613644599915,
+              0.7686280608177185
+            ],
+            "closest_ee_minus_button": [
+              -0.0010074850327240065,
+              -0.0018930367363494405,
+              0.03497557016230901
+            ],
+            "button_min_z_position": [
+              0.11628704518079756,
+              -0.44147613644599915,
+              0.7686280608177185
+            ],
+            "min_active_finger_to_button": 0.14666609290615962,
+            "closest_active_finger": [
+              -0.02573108673095703,
+              -0.4290524125099182,
+              0.810661792755127
+            ],
+            "closest_active_finger_button": [
+              0.11626037210226059,
+              -0.44149941205978394,
+              0.7761011123657227
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14199145883321762,
+              0.012446999549865723,
+              0.0345606803894043
+            ],
+            "min_contact_pad_to_button": 0.021135005744746558,
+            "closest_contact_pad": [
+              0.11628704518079756,
+              -0.4443972973800053,
+              0.7895602199664568
+            ],
+            "closest_contact_pad_button": [
+              0.11628704518079756,
+              -0.44147613644599915,
+              0.7686280608177185
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029211609340061284,
+              0.02093215914873825
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "008ae8a7559970e26890676b4707da440768f6b06f939f9722a26f233a31e951",
+    "visual_seed": 2445918036335115673,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f67ec618a631494515b8158760e07fe1aaa0673
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16283147632533185,
+              0.2601485637658105,
+              1.0425221658359165
+            ],
+            "current_z": 1.0425221658359165,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18593565842735094,
+            "gripper_z": 1.0480782953487215,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15880217516878675,
+              0.2560359297093523,
+              1.0480782953487215
+            ],
+            "object_minus_gripper": [
+              0.004029301156545095,
+              0.004112634056458231,
+              -0.005556129512805041
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+            "object_to_gripper_xy": 0.005757519143908749,
+            "object_to_gripper_z": -0.005556129512805041,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16283147632533185,
+              0.23605981583361252,
+              1.0425221658359165
+            ],
+            "finger_b": [
+              0.15263770714882477,
+              0.2601485637658105,
+              1.0425221658359165
+            ],
+            "finger_midpoint": [
+              0.15773459173707832,
+              0.24810418979971152,
+              1.0425221658359165
+            ],
+            "object_minus_finger_midpoint": [
+              0.005096884588253525,
+              0.012044373966099003,
+              0.0
+            ],
+            "finger_gap": 0.02615684818484214,
+            "fingertip_max_gap": 0.09334841779147734,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013078424092421064,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0425221658359165,
+            "object_top_z": 1.0888965565743542,
+            "finger_top_clearance": 0.04637439073843774,
+            "fingertip_min_top_clearance": 0.013912317221531306,
+            "object_projection_between_fingers": 0.848120636893025,
+            "object_to_finger_line_xy": 0.009387795289272947,
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+            ]
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+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78d32b1cbabf2581cf96f95ba8e9aebfa766a23d0c0e6e71c32e4dcf77fe5ed1",
+    "visual_seed": 6249665000470328680,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d81f71e078db98bcad1944099235c34df741012f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.26251830674501336,
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+              0.0044515397406446056,
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+              0.2504382668620249,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 205,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_gripper_z_dist": 0.0055941243365440485,
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+            "held_object_xy_range": 0.08627978905682032,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+        },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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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+            "min_z": 0.5730800627579278,
+            "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": 0.07589212179073479,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08724736374352503,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523606837270115,
+            "release_required_pad_clearance": 0.053623681871762516,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.257304745159686,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008088827133178711,
+            "max_z_decrease": 0.008088827133178711,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035097983535367167,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008088827133178711,
+            "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": 0.02099393334824695,
+            "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": 0.008088827133178711,
+            "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": 0.008088847406737312,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12217909842729567,
+              -0.4440380036830902,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12217909842729567,
+              -0.4440380036830902,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12114223683040165,
+              -0.44286266785406014,
+              0.8037832939008721
+            ],
+            "closest_button": [
+              0.12218734622001647,
+              -0.44402188062667847,
+              0.7687200307846069
+            ],
+            "closest_ee_minus_button": [
+              -0.001045109389614815,
+              0.0011592127726183232,
+              0.035063263116265175
+            ],
+            "button_min_z_position": [
+              0.12218734622001647,
+              -0.44402188062667847,
+              0.7687200307846069
+            ],
+            "min_active_finger_to_button": 0.14632631238385946,
+            "closest_active_finger": [
+              -0.004935279488563538,
+              -0.5078048706054688,
+              0.8109447360038757
+            ],
+            "closest_active_finger_button": [
+              0.12218030542135237,
+              -0.44403582811355585,
+              0.7764987349510193
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12711558490991592,
+              -0.0637690424919129,
+              0.034446001052856445
+            ],
+            "min_contact_pad_to_button": 0.02099393334824695,
+            "closest_contact_pad": [
+              0.12218734622001647,
+              -0.44402188062667847,
+              0.7897139641328539
+            ],
+            "closest_contact_pad_button": [
+              0.12218734622001647,
+              -0.44402188062667847,
+              0.7687200307846069
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02099393334824695
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4cf74fcc66477046cfe6e80aa72ca91e55ef611a22ef8452e1438592605bc18b",
+    "visual_seed": 5375067930355111277,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8abc86c826c24d4131b8a7e0b506f980162e07a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16105821076021476,
+              0.2537793775158032,
+              1.0454199022696478
+            ],
+            "current_z": 1.0454199022696478,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18883333525643742,
+            "gripper_z": 1.051010591871316,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15694069611399003,
+              0.24959487427325977,
+              1.051010591871316
+            ],
+            "object_minus_gripper": [
+              0.004117514646224729,
+              0.004184503242543436,
+              -0.005590689601668197
+            ],
+            "object_to_gripper_xy": 0.0058706042490302215,
+            "object_to_gripper_z": -0.005590689601668197,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16105821076021476,
+              0.22966682813700454,
+              1.0454199022696478
+            ],
+            "finger_b": [
+              0.15066765732379142,
+              0.2537793775158032,
+              1.0454199022696478
+            ],
+            "finger_midpoint": [
+              0.15586293404200308,
+              0.24172310282640386,
+              1.0454199022696478
+            ],
+            "object_minus_finger_midpoint": [
+              0.005195276718211683,
+              0.012056274689399349,
+              0.0
+            ],
+            "finger_gap": 0.026256020990625614,
+            "fingertip_max_gap": 0.09151400376509986,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013128010495312826,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0454199022696478,
+            "object_top_z": 1.0907903117780535,
+            "finger_top_clearance": 0.04537040950840576,
+            "fingertip_min_top_clearance": 0.013611122852521728,
+            "object_projection_between_fingers": 0.8433899823359147,
+            "object_to_finger_line_xy": 0.009542296332649065,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825700188254993,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1490428528889247,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..009b4622628afca187a4685a3a14129da12f43ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_1_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+                "beaker_b"
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+              "robot_prim_substrings": [
+                "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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "desk",
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+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+                },
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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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+                "wheel",
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "object_axis_flip_tolerance_deg": 3.0,
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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_b",
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+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "ground",
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+                "link0",
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+            "forbidden": [],
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+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.008091270923614502,
+            "max_z_decrease": 0.008091270923614502,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512111539488048,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008091270923614502,
+            "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": 0.02118703273825245,
+            "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": 0.008091270923614502,
+            "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": 0.008091300166715911,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12223293632268903,
+              -0.44263565540313726,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12223293632268903,
+              -0.44263565540313726,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12070132976153047,
+              -0.44464586403591205,
+              0.8037460913325265
+            ],
+            "closest_button": [
+              0.12224432080984114,
+              -0.44261711835861206,
+              0.7687175869941711
+            ],
+            "closest_ee_minus_button": [
+              -0.0015429910483106685,
+              -0.0020287456772999923,
+              0.03502850433835536
+            ],
+            "button_min_z_position": [
+              0.12224432080984114,
+              -0.44261711835861206,
+              0.7687175869941711
+            ],
+            "min_active_finger_to_button": 0.1471304371812205,
+            "closest_active_finger": [
+              -0.020200565457344055,
+              -0.4295737147331238,
+              0.8109708428382874
+            ],
+            "closest_active_finger_button": [
+              0.12223324924707411,
+              -0.44263556599617004,
+              0.7764837145805359
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14243381470441818,
+              0.013061851263046265,
+              0.034487128257751465
+            ],
+            "min_contact_pad_to_button": 0.02118703273825245,
+            "closest_contact_pad": [
+              0.12224432080984114,
+              -0.4457379028966386,
+              0.7896735183769323
+            ],
+            "closest_contact_pad_button": [
+              0.12224432080984114,
+              -0.44261711835861206,
+              0.7687175869941711
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031207845380265553,
+              0.020955931382761195
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d31d4e42c72c3b8c20968da3d856af9220789db4c556d2ad9611a46736573aee",
+    "visual_seed": 3749722667448032249,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d279e94c13397b83df3fc5af5b01ea539bd8587
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.1601693299077099,
+              0.257355631934006,
+              1.0427513302426505
+            ],
+            "current_z": 1.0427513302426505,
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+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.18616482283408486,
+            "gripper_z": 1.0482983016615044,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15620825235680436,
+              0.2530461643365973,
+              1.0482983016615044
+            ],
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+              0.003961077550905551,
+              0.004309467597408689,
+              -0.005546971418853852
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+            "object_to_gripper_xy": 0.005853344884542797,
+            "object_to_gripper_z": -0.005546971418853852,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1601693299077099,
+              0.23373545033466356,
+              1.0427513302426505
+            ],
+            "finger_b": [
+              0.14908223583645017,
+              0.257355631934006,
+              1.0427513302426505
+            ],
+            "finger_midpoint": [
+              0.15462578287208004,
+              0.2455455411343348,
+              1.0427513302426505
+            ],
+            "object_minus_finger_midpoint": [
+              0.00554354703562987,
+              0.011810090799671213,
+              0.0
+            ],
+            "finger_gap": 0.026092846409138247,
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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": 0.013842748835723983,
+            "object_projection_between_fingers": 0.8194520552289315,
+            "object_to_finger_line_xy": 0.010036435706011468,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048820897482490494,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1138057678352797,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15963865334500577,
+              0.25871635227859785,
+              1.235694403380651
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+            "held_position": [
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+              0.26268788279374017,
+              1.230035538874219
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008066318767509888,
+            "max_held_gripper_dist": 0.00807139045259887,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005658864506431938,
+            "max_held_gripper_z_dist": 0.005684792545054718,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608030946764711,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.16379433575878818,
+              0.23819951364908523,
+              1.230035538874219
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+              0.2504436982214127,
+              1.230035538874219
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+            "held_grasp_object_position": [
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+              0.26268788279374017,
+              1.230035538874219
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+            "held_grasp_finger_gap": 0.026184599665397445,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023996620336648747,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04912530909231543,
+              -0.998517506793096,
+              0.023441259229914024
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040388485903964134,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032746469830385316,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2642699831769014,
+              -0.3810742851702144,
+              0.8470202386106074
+            ],
+            "target_position": [
+              0.2594906851601683,
+              -0.3820749922679611,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004882940121302899,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18491835411638458,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470202386106074,
+            "min_z": 0.5730800627579278,
+            "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": 0.07512474776395829,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08607210312597917,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1540701034957145,
+            "release_required_pad_clearance": 0.053036051562989586,
+            "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": 1.1007262618585119,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007792532444000244,
+            "max_z_decrease": 0.007792532444000244,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035120531243494985,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007792532444000244,
+            "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": 0.02106930816193686,
+            "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": 0.007792532444000244,
+            "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": 0.007792560758400441,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11519061028957361,
+              -0.4383364617824554,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11519061028957361,
+              -0.4383364617824554,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11472441405870448,
+              -0.4369519544110648,
+              0.8082778671473557
+            ],
+            "closest_button": [
+              0.11519315093755716,
+              -0.43833014369010925,
+              0.773187518119812
+            ],
+            "closest_ee_minus_button": [
+              -0.00046873687885268245,
+              0.0013781892790444283,
+              0.03509034902754371
+            ],
+            "button_min_z_position": [
+              0.11517016589641567,
+              -0.43833163380622864,
+              0.7690163254737854
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+            "min_active_finger_to_button": 0.14606852789363944,
+            "closest_active_finger": [
+              -0.013134554028511047,
+              -0.49902164936065674,
+              0.8109688758850098
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+            "closest_active_finger_button": [
+              0.11519224196672434,
+              -0.4383338391780853,
+              0.7765415906906128
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1283267959952354,
+              -0.06068781018257141,
+              0.03442728519439697
+            ],
+            "min_contact_pad_to_button": 0.02106930816193686,
+            "closest_contact_pad": [
+              0.11517016589641567,
+              -0.43833163380622864,
+              0.7900856336357223
+            ],
+            "closest_contact_pad_button": [
+              0.11517016589641567,
+              -0.43833163380622864,
+              0.7690163254737854
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106930816193686
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b966c11162563fb8215e76d5bfbca2a2483aaa3d857e1b626f46d56d50942fe",
+    "visual_seed": 6925706559151739965,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f969479b0483a9d4824c0c6518d91d299ff510f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16319923049878812,
+              0.2585152255149342,
+              1.0444820259266943
+            ],
+            "current_z": 1.0444820259266943,
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+            "lift_margin": 0.18789539930883914,
+            "gripper_z": 1.050306736506892,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15882806051273698,
+              0.2539660558546726,
+              1.050306736506892
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+              0.004371169986051138,
+              0.004549169660261643,
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+            ],
+            "object_to_gripper_xy": 0.00630888830498681,
+            "object_to_gripper_z": -0.005824710580197845,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16319923049878812,
+              0.23463287616802575,
+              1.0444820259266943
+            ],
+            "finger_b": [
+              0.15172597180120456,
+              0.2585152255149342,
+              1.0444820259266943
+            ],
+            "finger_midpoint": [
+              0.15746260114999633,
+              0.24657405084147999,
+              1.0444820259266943
+            ],
+            "object_minus_finger_midpoint": [
+              0.005736629348791794,
+              0.011941174673454236,
+              0.0
+            ],
+            "finger_gap": 0.026495325539978864,
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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": 1.0444820259266943,
+            "object_top_z": 1.09061891488635,
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+            "object_projection_between_fingers": 0.8124854153020417,
+            "object_to_finger_line_xy": 0.010341762812073956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886513841860661,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1701198174687952,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c4a4a0b1ffcafa6ab5918e2e2fa80483ad6ea995d902481ccd0f8cd4c3385695",
+    "visual_seed": 1360069973867414429,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1ae3d17e4245596e91fcb53954fc6f359cf2aef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.25797772696222854,
+              1.0451665454254642
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+            "gripper_z": 1.0505602533970604,
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+            "gripper_position": [
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+              0.2533710995683916,
+              1.0505602533970604
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+              0.004606627393836937,
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+            "object_to_gripper_z": -0.005393707971596218,
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+              0.2340396216258899,
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+              1.0451665454254642
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+              0.2460086742940592,
+              1.0451665454254642
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+              0.011969052668169333,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0488111289046127,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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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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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "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": 0.15355600277945514,
+            "release_required_pad_clearance": 0.052697354165582105,
+            "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": 0.44936864424976725,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007886350154876709,
+            "max_z_decrease": 0.007886350154876709,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035161748698344944,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007886350154876709,
+            "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": 0.021062904336171195,
+            "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": 0.007886350154876709,
+            "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": 0.007886372818243349,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12288273125886917,
+              -0.43430772423744196,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12288273125886917,
+              -0.43430772423744196,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12404745935615608,
+              -0.4328541590402023,
+              0.8082245544538227
+            ],
+            "closest_button": [
+              0.12287818640470505,
+              -0.43430411815643305,
+              0.7731121778488159
+            ],
+            "closest_ee_minus_button": [
+              0.001169272951451028,
+              0.001449959116230748,
+              0.03511237660500677
+            ],
+            "button_min_z_position": [
+              0.12286403775215149,
+              -0.4343048930168152,
+              0.7689225077629089
+            ],
+            "min_active_finger_to_button": 0.14456649822803833,
+            "closest_active_finger": [
+              -0.004205062985420227,
+              -0.494067519903183,
+              0.8107550740242004
+            ],
+            "closest_active_finger_button": [
+              0.12288255989551544,
+              -0.43430638313293457,
+              0.7764503359794617
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12708762288093567,
+              -0.05976113677024841,
+              0.03430473804473877
+            ],
+            "min_contact_pad_to_button": 0.021062904336171195,
+            "closest_contact_pad": [
+              0.12286403775215149,
+              -0.4343048930168152,
+              0.7899854120990801
+            ],
+            "closest_contact_pad_button": [
+              0.12286403775215149,
+              -0.4343048930168152,
+              0.7689225077629089
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021062904336171195
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c2eecf006357f69957866be47fb06059a4b4b3c2c96609ee9ca88c86028717d",
+    "visual_seed": 3644797085444900775,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d2cde65277ea0a175e0d82e3482093aa044462c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16134414487644116,
+              0.2570755778689817,
+              1.0442098590463063
+            ],
+            "current_z": 1.0442098590463063,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1876233516377407,
+            "gripper_z": 1.0498174285195678,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15712230017465495,
+              0.252753295333174,
+              1.0498174285195678
+            ],
+            "object_minus_gripper": [
+              0.004221844701786215,
+              0.004322282535807742,
+              -0.0056075694732615755
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+            "object_to_gripper_xy": 0.006042027722987453,
+            "object_to_gripper_z": -0.0056075694732615755,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16134414487644116,
+              0.2330039124941204,
+              1.0442098590463063
+            ],
+            "finger_b": [
+              0.15059036714258012,
+              0.2570755778689817,
+              1.0442098590463063
+            ],
+            "finger_midpoint": [
+              0.15596725600951064,
+              0.24503974518155106,
+              1.0442098590463063
+            ],
+            "object_minus_finger_midpoint": [
+              0.005376888866930524,
+              0.012035832687430664,
+              0.0
+            ],
+            "finger_gap": 0.026364536966701754,
+            "fingertip_max_gap": 0.0919008461880724,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013182268483350877,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0442098590463063,
+            "object_top_z": 1.0899613979241805,
+            "finger_top_clearance": 0.0457515388778742,
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+            "object_projection_between_fingers": 0.8336273955587075,
+            "object_to_finger_line_xy": 0.009818542971267727,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0484504230940362,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9068875672196464,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
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+              -0.9994155625043366,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004426714186717823,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26988968545236336,
+              -0.38318735955538985,
+              0.8470192316200562
+            ],
+            "target_position": [
+              0.2648730982299498,
+              -0.3842482829775798,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005127543843579897,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1859452156304983,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192316200562,
+            "min_z": 0.5730800627579278,
+            "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": 0.07546453807822326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587826906826922,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15436284706965928,
+            "release_required_pad_clearance": 0.05293913453413461,
+            "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": 0.9117053920347516,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008222818374633789,
+            "max_z_decrease": 0.008222818374633789,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504378151444886,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008222818374633789,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0211439388090958,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.008222818374633789,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008222856859938954,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12057302147150034,
+              -0.44050973653793335,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12057302147150034,
+              -0.44050973653793335,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11983867672631215,
+              -0.4423677323485147,
+              0.8035714176249846
+            ],
+            "closest_button": [
+              0.12057671695947643,
+              -0.4404848515987396,
+              0.7685860395431519
+            ],
+            "closest_ee_minus_button": [
+              -0.0007380402331642749,
+              -0.001882880749775051,
+              0.034985378081832774
+            ],
+            "button_min_z_position": [
+              0.12057671695947643,
+              -0.4404848515987396,
+              0.7685860395431519
+            ],
+            "min_active_finger_to_button": 0.1463263490757967,
+            "closest_active_finger": [
+              -0.02085692435503006,
+              -0.4256429076194763,
+              0.8111582398414612
+            ],
+            "closest_active_finger_button": [
+              0.12057619541883464,
+              -0.44050759077072144,
+              0.7767037153244019
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1414331197738647,
+              0.014864683151245117,
+              0.034454524517059326
+            ],
+            "min_contact_pad_to_button": 0.0211439388090958,
+            "closest_contact_pad": [
+              0.12057671695947643,
+              -0.4436084483324744,
+              0.7894979809118481
+            ],
+            "closest_contact_pad_button": [
+              0.12057671695947643,
+              -0.4404848515987396,
+              0.7685860395431519
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031235967337348014,
+              0.02091194136869623
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68bc409c493be6d45e58e29cee119c37ca5b882b58a6d8959a826e6f6e30dcbb",
+    "visual_seed": 6849485503030094013,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..806fd7a60d443ac038e102f76f3b75627f9508f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.004528442551890055,
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+            "object_to_gripper_z": -0.00569462009456978,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23625819455828648,
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+              0.24819341605356404,
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+              1.0
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+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
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+          }
+        },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2611949948074736,
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+              0.265365008659699,
+              1.2313735239668702
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+            "held_shake_count": 5,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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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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+            "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": 0.15452424628150893,
+            "release_required_pad_clearance": 0.05268813432787402,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4315998951946764,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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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+              "forbidden": [],
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
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+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.00810474157333374,
+            "max_z_decrease": 0.00810474157333374,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035071212466949435,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00810474157333374,
+            "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": 0.021133157446150373,
+            "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": 0.00810474157333374,
+            "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": 0.008104780295688712,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12284581363201141,
+              -0.43500888347625727,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12284581363201141,
+              -0.43500888347625727,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12243627238259597,
+              -0.43658629696606904,
+              0.803736300143002
+            ],
+            "closest_button": [
+              0.12285753339529037,
+              -0.43498674035072327,
+              0.7687041163444519
+            ],
+            "closest_ee_minus_button": [
+              -0.0004212610126944072,
+              -0.0015995566153457763,
+              0.03503218379855011
+            ],
+            "button_min_z_position": [
+              0.12285753339529037,
+              -0.43498674035072327,
+              0.7687041163444519
+            ],
+            "min_active_finger_to_button": 0.14607845102292516,
+            "closest_active_finger": [
+              -0.01849675178527832,
+              -0.4219426214694977,
+              0.8107367753982544
+            ],
+            "closest_active_finger_button": [
+              0.12284702062606812,
+              -0.43500643968582153,
+              0.7762376666069031
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14134377241134644,
+              0.013063818216323853,
+              0.03449910879135132
+            ],
+            "min_contact_pad_to_button": 0.021133157446150373,
+            "closest_contact_pad": [
+              0.12285753339529037,
+              -0.43764300300108294,
+              0.78966967410894
+            ],
+            "closest_contact_pad_button": [
+              0.12285753339529037,
+              -0.43498674035072327,
+              0.7687041163444519
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026562626503596753,
+              0.020965557764488052
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f672233a92c264d9b4521d8563b5bdb15e91634928dedaf5188aa2e59e4e176",
+    "visual_seed": 5900453006714843976,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f9e8e46430d1710d6dec23427f9a3696afae935
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16496177908573842,
+              0.2657636179297289,
+              1.042653491353469
+            ],
+            "current_z": 1.042653491353469,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1860669839449035,
+            "gripper_z": 1.0479886514513488,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16042348544107438,
+              0.2612590829666686,
+              1.0479886514513488
+            ],
+            "object_minus_gripper": [
+              0.004538293644664043,
+              0.004504534963060303,
+              -0.00533516009787971
+            ],
+            "object_to_gripper_xy": 0.006394289987061169,
+            "object_to_gripper_z": -0.00533516009787971,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16496177908573842,
+              0.24153188368804246,
+              1.042653491353469
+            ],
+            "finger_b": [
+              0.15387239327407107,
+              0.2657636179297289,
+              1.042653491353469
+            ],
+            "finger_midpoint": [
+              0.15941708617990474,
+              0.2536477508088857,
+              1.042653491353469
+            ],
+            "object_minus_finger_midpoint": [
+              0.005544692905833676,
+              0.012115867120843227,
+              0.0
+            ],
+            "finger_gap": 0.0266486664214127,
+            "fingertip_max_gap": 0.09211238335265359,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01332433321070635,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0884484062060313,
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+            "object_projection_between_fingers": 0.8268334416246097,
+            "object_to_finger_line_xy": 0.010083620907796515,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485561916763268,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1616488876729976,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/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_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16385789605964138,
+              0.2666318921313932,
+              1.2381491328458203
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+            "held_position": [
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+              0.2708460101533041,
+              1.232717618905686
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0083285574790171,
+            "max_held_gripper_dist": 0.008335092859668108,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005431513940134192,
+            "max_held_gripper_z_dist": 0.005464966336283794,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08654673067291013,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16855946338307995,
+              0.24603724823177184,
+              1.232717618905686
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+            "held_grasp_finger_b": [
+              0.1587563202612305,
+              0.2708460101533041,
+              1.232717618905686
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+            "held_grasp_midpoint": [
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+              0.258441629192538,
+              1.232717618905686
+            ],
+            "held_grasp_object_position": [
+              0.16855946338307995,
+              0.2708460101533041,
+              1.232717618905686
+            ],
+            "held_grasp_finger_gap": 0.026675387216434823,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02449778043076592,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.030126167448164605,
+              -0.999369159992397,
+              0.018806809696919505
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004531730529768557,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03265600361922066,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2721775859288236,
+              -0.3798948577754667,
+              0.8470195406696293
+            ],
+            "target_position": [
+              0.2665497384195367,
+              -0.3813126151729033,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005803680179487189,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1855558826830027,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195406696293,
+            "min_z": 0.5730800627579278,
+            "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": 0.07590915258895228,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08710139959872033,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15297533004279315,
+            "release_required_pad_clearance": 0.05355069979936017,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.111835225065398,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008077144622802734,
+            "max_z_decrease": 0.008077144622802734,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512105015729515,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008077144622802734,
+            "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": 0.02098521931986186,
+            "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": 0.008077144622802734,
+            "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": 0.008077155048757459,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12224966287612912,
+              -0.4375740587711334,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12224966287612912,
+              -0.4375740587711334,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12032363010155953,
+              -0.4363121850368971,
+              0.8037775369181602
+            ],
+            "closest_button": [
+              0.1222518905997276,
+              -0.4375612735748291,
+              0.7687317132949829
+            ],
+            "closest_ee_minus_button": [
+              -0.0019282604981680773,
+              0.001249088537931986,
+              0.03504582362317732
+            ],
+            "button_min_z_position": [
+              0.1222518905997276,
+              -0.4375612735748291,
+              0.7687317132949829
+            ],
+            "min_active_finger_to_button": 0.1470689075410507,
+            "closest_active_finger": [
+              -0.005792342126369476,
+              -0.5011855363845825,
+              0.8107205629348755
+            ],
+            "closest_active_finger_button": [
+              0.12225102633237835,
+              -0.43757373094558716,
+              0.7762575745582581
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1280433684587478,
+              -0.06361180543899536,
+              0.03446298837661743
+            ],
+            "min_contact_pad_to_button": 0.02098521931986186,
+            "closest_contact_pad": [
+              0.1222518905997276,
+              -0.4375612735748291,
+              0.7897169326148448
+            ],
+            "closest_contact_pad_button": [
+              0.1222518905997276,
+              -0.4375612735748291,
+              0.7687317132949829
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02098521931986186
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a4028cbbf9e645b07bb1861a25d6ebd7a8060488eee29de3899704ea084574de",
+    "visual_seed": 1303753253332537721,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fddb1947d9990e481ffad4802ec96995b44ca0e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.2566530457420788,
+              1.0451754204412447
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+            "lift_margin": 0.1885889130326791,
+            "gripper_z": 1.0506205097487076,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1618158654671626,
+              0.2521978213671422,
+              1.0506205097487076
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+              0.00455221768405642,
+              0.004455224374936617,
+              -0.0054450893074629025
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+            "object_to_gripper_z": -0.0054450893074629025,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.166368083151219,
+              0.2322387414807113,
+              1.0451754204412447
+            ],
+            "finger_b": [
+              0.15557691903882853,
+              0.2566530457420788,
+              1.0451754204412447
+            ],
+            "finger_midpoint": [
+              0.16097250109502376,
+              0.24444589361139507,
+              1.0451754204412447
+            ],
+            "object_minus_finger_midpoint": [
+              0.005395582056195253,
+              0.01220715213068374,
+              0.0
+            ],
+            "finger_gap": 0.026692835658040752,
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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": 1.090667921885644,
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+            "fingertip_min_top_clearance": 0.013647750433319844,
+            "object_projection_between_fingers": 0.8365642089239954,
+            "object_to_finger_line_xy": 0.009870017833601294,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048464834540463894,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3290472822315162,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2262f3970233c58572cef82db01ff787d0f9095ed86c2988ffe7f265cd42919d",
+    "visual_seed": 3604078904273559334,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff8ed356399497434438862d05a09f754f78ad4f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2612218041609891,
+              1.0446603721641374
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+            "lift_margin": 0.18807392436021664,
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+              0.16137635495172106,
+              0.2566659816576078,
+              1.050204554039215
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+              0.004555822503381324,
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+              0.23695487220469036,
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+              0.24908833818283974,
+              1.0446603721641374
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+              0.012133465978149377,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048804654015686844,
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+            "object_upright_reference_source": "scene_initial",
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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": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.005638540361860622,
+            "max_held_gripper_z_dist": 0.00566952555073974,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08633395117637307,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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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": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15488134058005948,
+            "release_required_pad_clearance": 0.05327642465178492,
+            "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": 1.572179571387797,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008042573928833008,
+            "max_z_decrease": 0.008042573928833008,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035142729343755376,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008042573928833008,
+            "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": 0.02103769515216003,
+            "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": 0.008042573928833008,
+            "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": 0.00804258723602542,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12057195603847504,
+              -0.43752381205558777,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12057195603847504,
+              -0.43752381205558777,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1185723410992914,
+              -0.43618738064410423,
+              0.8075426604167059
+            ],
+            "closest_button": [
+              0.120563805103302,
+              -0.4375174045562744,
+              0.7724816203117371
+            ],
+            "closest_ee_minus_button": [
+              -0.0019914640040105958,
+              0.0013300239121701862,
+              0.0350610401049688
+            ],
+            "button_min_z_position": [
+              0.12056006491184236,
+              -0.4375152885913849,
+              0.7687662839889526
+            ],
+            "min_active_finger_to_button": 0.1473659264795227,
+            "closest_active_finger": [
+              -0.007778823375701904,
+              -0.5011988282203674,
+              0.8108153939247131
+            ],
+            "closest_active_finger_button": [
+              0.1205737441778183,
+              -0.4375220537185669,
+              0.7763537764549255
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1283525675535202,
+              -0.06367677450180054,
+              0.0344616174697876
+            ],
+            "min_contact_pad_to_button": 0.02103769515216003,
+            "closest_contact_pad": [
+              0.12056006491184236,
+              -0.4375152885913849,
+              0.7898039791411127
+            ],
+            "closest_contact_pad_button": [
+              0.12056006491184236,
+              -0.4375152885913849,
+              0.7687662839889526
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02103769515216003
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d2dab6d3c70c4dc663d3e15859de5bbb0656a1c8994e9f9fb2736cd8f4b8c107",
+    "visual_seed": 8039631100489638810,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..053647f01f84477f2d2981355a5372bae1201fcf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.1676012753146375,
+              0.25844525411363684,
+              1.0434428409371006
+            ],
+            "current_z": 1.0434428409371006,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1868563931331798,
+            "gripper_z": 1.049114342724974,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1629840602228104,
+              0.2537613479857289,
+              1.049114342724974
+            ],
+            "object_minus_gripper": [
+              0.004617215091827109,
+              0.004683906127907922,
+              -0.005671501787873456
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+            "object_to_gripper_xy": 0.006577054950298759,
+            "object_to_gripper_z": -0.005671501787873456,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1676012753146375,
+              0.23439369356677514,
+              1.0434428409371006
+            ],
+            "finger_b": [
+              0.15592724147896062,
+              0.25844525411363684,
+              1.0434428409371006
+            ],
+            "finger_midpoint": [
+              0.16176425839679906,
+              0.246419473840206,
+              1.0434428409371006
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058370169178384446,
+              0.012025780273430847,
+              0.0
+            ],
+            "finger_gap": 0.02673500758810221,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013367503794051105,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0434428409371006,
+            "object_top_z": 1.0892147794465363,
+            "finger_top_clearance": 0.04577193850943573,
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+            "object_projection_between_fingers": 0.8093304805327367,
+            "object_to_finger_line_xy": 0.010502287336168509,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849874194096959,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9913083923620781,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16644760512963427,
+              0.2593772892198516,
+              1.2358076245096121
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+            "held_position": [
+              0.17125808422753716,
+              0.2636786842454017,
+              1.2300105480703911
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
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+            "held_gripper_dist": 0.00867460682448254,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              1.2300105480703911
+            ],
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+              0.1613560928825653,
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+            "held_grasp_midpoint": [
+              0.16630708855505122,
+              0.25126058020897996,
+              1.2300105480703911
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+              0.17125808422753716,
+              0.2636786842454017,
+              1.2300105480703911
+            ],
+            "held_grasp_finger_gap": 0.026737364567837867,
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+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024337699305484056,
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9986955447990518,
+              0.019783648180877193
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2662629069057967,
+              -0.379897058278001,
+              0.8470202690774185
+            ],
+            "target_position": [
+              0.2592069638192739,
+              -0.3822382472169029,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007434211356148374,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18474275032358572,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470202690774185,
+            "min_z": 0.5730800627579278,
+            "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": 0.07529024542961911,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606819707165096,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15386336728028024,
+            "release_required_pad_clearance": 0.05303409853582548,
+            "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": 1.0971653230811285,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008032441139221191,
+            "max_z_decrease": 0.008032441139221191,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515741083312181,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008032441139221191,
+            "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": 0.021313292311006222,
+            "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": 0.008032441139221191,
+            "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": 0.008032462327231026,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1149068921804428,
+              -0.43849971890449524,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1149068921804428,
+              -0.43849971890449524,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11544652646221149,
+              -0.44058800215572624,
+              0.8075669054710928
+            ],
+            "closest_button": [
+              0.11489693075418471,
+              -0.4384942948818207,
+              0.7724761962890625
+            ],
+            "closest_ee_minus_button": [
+              0.000549595708026776,
+              -0.002093707273905565,
+              0.03509070918203028
+            ],
+            "button_min_z_position": [
+              0.11488976329565047,
+              -0.43849286437034607,
+              0.7687764167785645
+            ],
+            "min_active_finger_to_button": 0.14543198080843084,
+            "closest_active_finger": [
+              -0.025529228150844574,
+              -0.42304903268814087,
+              0.8108302354812622
+            ],
+            "closest_active_finger_button": [
+              0.11490771919488904,
+              -0.4384975731372833,
+              0.7763444781303406
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14043694734573361,
+              0.015448540449142456,
+              0.03448575735092163
+            ],
+            "min_contact_pad_to_button": 0.021313292311006222,
+            "closest_contact_pad": [
+              0.11488976329565047,
+              -0.44180290232996666,
+              0.7898311093158652
+            ],
+            "closest_contact_pad_button": [
+              0.11488976329565047,
+              -0.43849286437034607,
+              0.7687764167785645
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003310037959620593,
+              0.021054692537300745
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dd7affd93534b58b8a4e6eee5bec30c81d7145048fb3674b833e70f8cf97bf0f",
+    "visual_seed": 7487334889708630586,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a32f08851452ce5852e4100fe57930f9d75159c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
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+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021070273126428493,
+            "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": 0.00803440809249878,
+            "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": 0.008034430648568559,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11668977141380306,
+              -0.4432418048381805,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11668977141380306,
+              -0.4432418048381805,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1182814488016958,
+              -0.4424917080193199,
+              0.8082863981292996
+            ],
+            "closest_button": [
+              0.11669474095106122,
+              -0.44323369860649103,
+              0.773202657699585
+            ],
+            "closest_ee_minus_button": [
+              0.0015867078506345833,
+              0.0007419905871711152,
+              0.03508374042971463
+            ],
+            "button_min_z_position": [
+              0.11667196452617642,
+              -0.44323506951332087,
+              0.7687744498252869
+            ],
+            "min_active_finger_to_button": 0.14456188678002202,
+            "closest_active_finger": [
+              -0.00794278085231781,
+              -0.507847785949707,
+              0.8104886412620544
+            ],
+            "closest_active_finger_button": [
+              0.11669240146875379,
+              -0.44323790073394775,
+              0.7759955525398254
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1246351823210716,
+              -0.06460988521575928,
+              0.034493088722229004
+            ],
+            "min_contact_pad_to_button": 0.021070273126428493,
+            "closest_contact_pad": [
+              0.11667196452617642,
+              -0.4433091945540704,
+              0.7898445925656821
+            ],
+            "closest_contact_pad_button": [
+              0.11667196452617642,
+              -0.44323506951332087,
+              0.7687744498252869
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -7.412504074955084e-05,
+              0.021070142740395204
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "de7d0e771bb52e304539284588f52255e94f5b5c9d2d22fb2a36ba00f46d565d",
+    "visual_seed": 218787134343127499,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f95c8a1b4b60c5c22812cbbd9f0b90eaf7de2d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.165747524713788,
+              0.2572021698373511,
+              1.0432819865694296
+            ],
+            "current_z": 1.0432819865694296,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18669541955621927,
+            "gripper_z": 1.0488824750286467,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1612083131170525,
+              0.2526322303990789,
+              1.0488824750286467
+            ],
+            "object_minus_gripper": [
+              0.0045392115967355096,
+              0.004569939438272219,
+              -0.005600488459217123
+            ],
+            "object_to_gripper_xy": 0.0064411791148371225,
+            "object_to_gripper_z": -0.005600488459217123,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.165747524713788,
+              0.23308740019802085,
+              1.0432819865694296
+            ],
+            "finger_b": [
+              0.15442469532162592,
+              0.2572021698373511,
+              1.0432819865694296
+            ],
+            "finger_midpoint": [
+              0.16008611001770695,
+              0.245144785017686,
+              1.0432819865694296
+            ],
+            "object_minus_finger_midpoint": [
+              0.005661414696081057,
+              0.012057384819665118,
+              0.0
+            ],
+            "finger_gap": 0.026640731600351637,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013320365800175812,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0432819865694296,
+            "object_top_z": 1.089166603696391,
+            "finger_top_clearance": 0.04588461712696135,
+            "fingertip_min_top_clearance": 0.01376538513808842,
+            "object_projection_between_fingers": 0.8193584575563736,
+            "object_to_finger_line_xy": 0.010249246400343704,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851834048917418,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9226033462915114,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16449345021184175,
+              0.25848287931731545,
+              1.2366083429379255
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+            "held_position": [
+              0.16917769956664408,
+              0.26274022188232304,
+              1.2308899198017764
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008530388086003884,
+            "max_held_gripper_dist": 0.008538145776413583,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00571842313614912,
+            "max_held_gripper_z_dist": 0.005745983192592785,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08595137265749841,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16917769956664408,
+              0.2380019471226274,
+              1.2308899198017764
+            ],
+            "held_grasp_finger_b": [
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+              0.26274022188232304,
+              1.2308899198017764
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+            "held_grasp_midpoint": [
+              0.1642333941213424,
+              0.25037108450247525,
+              1.2308899198017764
+            ],
+            "held_grasp_object_position": [
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+              0.26274022188232304,
+              1.2308899198017764
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+            "held_grasp_finger_gap": 0.026641450100021835,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024340977626633405,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.037869596618012,
+              -0.9990775659279284,
+              0.020246256728469806
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004479456540559587,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032655258446954445,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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": [],
+            "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2716241436467606,
+              -0.3790377038998633,
+              0.8470197740457543
+            ],
+            "target_position": [
+              0.26566407392136776,
+              -0.38072494255081507,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006194288126718802,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1866695568853621,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197740457543,
+            "min_z": 0.5730800627579278,
+            "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": 0.07547668573197144,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08503412610384055,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15501570772037926,
+            "release_required_pad_clearance": 0.052517063051920276,
+            "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": 0.10467798812822882,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008069396018981934,
+            "max_z_decrease": 0.008069396018981934,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035095434846629865,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008069396018981934,
+            "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": 0.02104517297039845,
+            "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": 0.008069396018981934,
+            "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": 0.008069407742664125,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12136399745941161,
+              -0.43698638677597046,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12136399745941161,
+              -0.43698638677597046,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12058777228435383,
+              -0.43706723709301304,
+              0.8075778631763341
+            ],
+            "closest_button": [
+              0.12135481834411621,
+              -0.4369805753231049,
+              0.772490918636322
+            ],
+            "closest_ee_minus_button": [
+              -0.0007670460597623829,
+              -8.666176990812513e-05,
+              0.035086944540012044
+            ],
+            "button_min_z_position": [
+              0.12136466801166533,
+              -0.4369726479053498,
+              0.7687394618988037
+            ],
+            "min_active_finger_to_button": 0.14690740268662353,
+            "closest_active_finger": [
+              -0.006824225187301636,
+              -0.49996230006217957,
+              0.8106669187545776
+            ],
+            "closest_active_finger_button": [
+              0.12136529386043549,
+              -0.4369847774505616,
+              0.7762712240219116
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12818951904773712,
+              -0.06297752261161799,
+              0.034395694732666016
+            ],
+            "min_contact_pad_to_button": 0.02104517297039845,
+            "closest_contact_pad": [
+              0.12136466801166533,
+              -0.43817002006882116,
+              0.7897505448136878
+            ],
+            "closest_contact_pad_button": [
+              0.12136466801166533,
+              -0.4369726479053498,
+              0.7687394618988037
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011973721634713774,
+              0.02101108291488407
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d4d24e5b4d5103baafe18a20af8d8c04e6e22aa89b5a1625fc3630b2a75fec8",
+    "visual_seed": 2302374654174840216,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f164797413771cc802d20ff734f283f7500cb70a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.161095624059811,
+              0.2553951144054693,
+              1.0427918726587029
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+            "lift_margin": 0.18620524604084776,
+            "gripper_z": 1.0482372811711504,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.15720034260126134,
+              0.2512250149011036,
+              1.0482372811711504
+            ],
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+              0.003895281458549671,
+              0.0041700995043656985,
+              -0.005445408512447569
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+            "object_to_gripper_xy": 0.005706395317328786,
+            "object_to_gripper_z": -0.005445408512447569,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.161095624059811,
+              0.23163106413519097,
+              1.0427918726587029
+            ],
+            "finger_b": [
+              0.15051618605509096,
+              0.2553951144054693,
+              1.0427918726587029
+            ],
+            "finger_midpoint": [
+              0.15580590505745098,
+              0.24351308927033014,
+              1.0427918726587029
+            ],
+            "object_minus_finger_midpoint": [
+              0.005289719002360027,
+              0.011882025135139168,
+              0.0
+            ],
+            "finger_gap": 0.026012585295276416,
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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": 1.0427918726587029,
+            "object_top_z": 1.0889064572890146,
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+            "object_projection_between_fingers": 0.8345913712394679,
+            "object_to_finger_line_xy": 0.009664948474810515,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04889750705541002,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3620796799725283,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f16ae30720bd27833ecc3c65560031d836870a99c56c32f8e748886308a1131d",
+    "visual_seed": 3170634957760733390,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8276ab5cbaf64910145f885eaa3dc18f86ff73b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+              0.2634575973121887,
+              1.043737898456294
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+              0.2586791400169772,
+              1.0494883975040818
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+              0.2393286327866312,
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+              0.25139311504941,
+              1.043737898456294
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "target": "heater_platform",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15540437528002252,
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.2654078066508649,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008144199848175049,
+            "max_z_decrease": 0.008144199848175049,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501381139131855,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008144199848175049,
+            "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": 0.021015395113147824,
+            "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": 0.008144199848175049,
+            "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": 0.008144282378902188,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12124429643154143,
+              -0.44246283173561096,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12124429643154143,
+              -0.44246283173561096,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11982869210598013,
+              -0.4433558262832,
+              0.803636669534769
+            ],
+            "closest_button": [
+              0.12127473205327986,
+              -0.442442387342453,
+              0.7686646580696106
+            ],
+            "closest_ee_minus_button": [
+              -0.0014460399472997348,
+              -0.0009134389407470245,
+              0.03497201146515838
+            ],
+            "button_min_z_position": [
+              0.12127473205327986,
+              -0.442442387342453,
+              0.7686646580696106
+            ],
+            "min_active_finger_to_button": 0.14705675665042822,
+            "closest_active_finger": [
+              -0.020692691206932068,
+              -0.42525073885917664,
+              0.8104817867279053
+            ],
+            "closest_active_finger_button": [
+              0.12124250084161756,
+              -0.4424627125263214,
+              0.7760748267173767
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14193519204854962,
+              0.017211973667144775,
+              0.034406960010528564
+            ],
+            "min_contact_pad_to_button": 0.021015395113147824,
+            "closest_contact_pad": [
+              0.12127473205327986,
+              -0.44471865629710733,
+              0.7895564131755799
+            ],
+            "closest_contact_pad_button": [
+              0.12127473205327986,
+              -0.442442387342453,
+              0.7686646580696106
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022762689546543258,
+              0.0208917551059693
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f78adeafebd3d53d9f9a83b14b8a07a033139ce2a7e67bd1395e46f7e59df13b",
+    "visual_seed": 6716930605963153289,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..225d72e95183d839e1700ce5d793258c31758aee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16652873822884068,
+              0.2553887414805508,
+              1.0437788417279072
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+            "current_z": 1.0437788417279072,
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+            "lift_margin": 0.18719233431934168,
+            "gripper_z": 1.0492667027626048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16220358458352285,
+              0.2510379201729629,
+              1.0492667027626048
+            ],
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+              0.004325153645317825,
+              0.004350821307587904,
+              -0.005487861034697561
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+            "object_to_gripper_xy": 0.006134867570385443,
+            "object_to_gripper_z": -0.005487861034697561,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16652873822884068,
+              0.23120076913905832,
+              1.0437788417279072
+            ],
+            "finger_b": [
+              0.15578726145876934,
+              0.2553887414805508,
+              1.0437788417279072
+            ],
+            "finger_midpoint": [
+              0.16115799984380502,
+              0.24329475530980454,
+              1.0437788417279072
+            ],
+            "object_minus_finger_midpoint": [
+              0.005370738385035656,
+              0.012093986170746251,
+              0.0
+            ],
+            "finger_gap": 0.02646577656511872,
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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": 0.8352753081640857,
+            "object_to_finger_line_xy": 0.00981700054717833,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04912574749517404,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2664134645519314,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16564557774478939,
+              0.25681868454055923,
+              1.2375640007414908
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+            "held_position": [
+              0.17007692513466455,
+              0.26091975307510196,
+              1.2319713130243355
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008230052169724637,
+            "max_held_gripper_dist": 0.008234064940482028,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005592687717155265,
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
+              ],
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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"
+              ],
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+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26556599516281015,
+              -0.3781684609342838,
+              0.847019581395291
+            ],
+            "target_position": [
+              0.2612011514552289,
+              -0.37888983076144966,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0044240518779911685,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18610220661665874,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019581395291,
+            "min_z": 0.5730800627579278,
+            "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": 0.07554703398401537,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864332522691479,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15425234179074335,
+            "release_required_pad_clearance": 0.05321662613457395,
+            "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": 1.453169879467072,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007882237434387207,
+            "max_z_decrease": 0.007882237434387207,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035097681287010525,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007882237434387207,
+            "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": 0.02102500071602471,
+            "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": 0.007882237434387207,
+            "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": 0.007882260044083248,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11690107733011243,
+              -0.4351512789726257,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11690107733011243,
+              -0.4351512789726257,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11536191918283001,
+              -0.4344485390535131,
+              0.8075509113199962
+            ],
+            "closest_button": [
+              0.11689101904630658,
+              -0.43514546751976013,
+              0.7724934816360474
+            ],
+            "closest_ee_minus_button": [
+              -0.001529099863476574,
+              0.0006969284662470265,
+              0.03505742968394887
+            ],
+            "button_min_z_position": [
+              0.11688289046287534,
+              -0.4351462125778198,
+              0.7689266204833984
+            ],
+            "min_active_finger_to_button": 0.14724173020156525,
+            "closest_active_finger": [
+              -0.010803401470184326,
+              -0.49981072545051575,
+              0.8109349012374878
+            ],
+            "closest_active_finger_button": [
+              0.11690271645784377,
+              -0.4351493120193481,
+              0.7764359712600708
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277061179280281,
+              -0.06466141343116766,
+              0.03449892997741699
+            ],
+            "min_contact_pad_to_button": 0.02102500071602471,
+            "closest_contact_pad": [
+              0.11688289046287534,
+              -0.43527601170241537,
+              0.7899512205341983
+            ],
+            "closest_contact_pad_button": [
+              0.11688289046287534,
+              -0.4351462125778198,
+              0.7689266204833984
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001297991245955421,
+              0.02102460005079987
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "60d3574e951f8eaa6f5d957eea54a13a86a8fcfd2339888a28057f3fcf4438ff",
+    "visual_seed": 1076039470030683692,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8994013a4fb8f2dc2294569439cdf78f2af1ad4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008044838905334473,
+            "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": 0.008044849081053572,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1216481402516365,
+              -0.4372647106647491,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1216481402516365,
+              -0.4372647106647491,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12003836028452256,
+              -0.4380740903663597,
+              0.8077599414026106
+            ],
+            "closest_button": [
+              0.12163940817117691,
+              -0.4372590780258178,
+              0.7726850509643555
+            ],
+            "closest_ee_minus_button": [
+              -0.0016010478866543554,
+              -0.0008150123405418763,
+              0.03507489043825518
+            ],
+            "button_min_z_position": [
+              0.12163887172937393,
+              -0.43725588917732233,
+              0.7687640190124512
+            ],
+            "min_active_finger_to_button": 0.14765432253012,
+            "closest_active_finger": [
+              -0.021006181836128235,
+              -0.42096424102783203,
+              0.8107531666755676
+            ],
+            "closest_active_finger_button": [
+              0.12164873629808426,
+              -0.4372635483741759,
+              0.7763190865516663
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1426549181342125,
+              0.016299307346343883,
+              0.03443408012390137
+            ],
+            "min_contact_pad_to_button": 0.021111885519966577,
+            "closest_contact_pad": [
+              0.12163887172937393,
+              -0.43927462864110184,
+              0.7897791659590122
+            ],
+            "closest_contact_pad_button": [
+              0.12163887172937393,
+              -0.43725588917732233,
+              0.7687640190124512
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020187394637795064,
+              0.021015146946561036
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fda3f1dadd057a50a84bde67b410adf40318a1bc6e039b78e5a09921b5f68d7a",
+    "visual_seed": 5217027753910184738,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6205cde452fe35b56c0f1e280794344a52a2b1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16870576934602524,
+              0.2641256994048867,
+              1.0415864507618584
+            ],
+            "current_z": 1.0415864507618584,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.1849998241440033,
+            "gripper_z": 1.0469974130648445,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1638940625062627,
+              0.25944053757308294,
+              1.0469974130648445
+            ],
+            "object_minus_gripper": [
+              0.004811706839762536,
+              0.004685161831803786,
+              -0.0054109623029861
+            ],
+            "object_to_gripper_xy": 0.00671589637368003,
+            "object_to_gripper_z": -0.0054109623029861,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16870576934602524,
+              0.2397691138178264,
+              1.0415864507618584
+            ],
+            "finger_b": [
+              0.15723935319149585,
+              0.2641256994048867,
+              1.0415864507618584
+            ],
+            "finger_midpoint": [
+              0.16297256126876053,
+              0.25194740661135656,
+              1.0415864507618584
+            ],
+            "object_minus_finger_midpoint": [
+              0.005733208077264712,
+              0.012178292793530165,
+              0.0
+            ],
+            "finger_gap": 0.02692066048388575,
+            "fingertip_max_gap": 0.09308200947065198,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01346033024194288,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0415864507618584,
+            "object_top_z": 1.0877876347060509,
+            "finger_top_clearance": 0.04620118394419248,
+            "fingertip_min_top_clearance": 0.01386035518325771,
+            "object_projection_between_fingers": 0.8185804949699128,
+            "object_to_finger_line_xy": 0.010374290282061256,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049041004735325994,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.449309373533713,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16742003488392682,
+              0.2648552700737135,
+              1.237795993366384
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+            "held_position": [
+              0.1724343650343155,
+              0.26921802974065606,
+              1.2322987325493744
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008625372760572559,
+            "max_held_gripper_dist": 0.008635765955967146,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00549726081700963,
+            "max_held_gripper_z_dist": 0.0055319697835098935,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08648934437504008,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1724343650343155,
+              0.24424922889823006,
+              1.2322987325493744
+            ],
+            "held_grasp_finger_b": [
+              0.162320551043063,
+              0.26921802974065606,
+              1.2322987325493744
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+            "held_grasp_midpoint": [
+              0.16737745803868925,
+              0.25673362931944305,
+              1.2322987325493744
+            ],
+            "held_grasp_object_position": [
+              0.1724343650343155,
+              0.26921802974065606,
+              1.2322987325493744
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+            "held_grasp_finger_gap": 0.026939381005479473,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02464770430440445,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029974622863631808,
+              -0.9992815522846272,
+              0.02319269815715974
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004689475761127292,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03257321505350783,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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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+              ],
+              "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27238128040159215,
+              -0.3825983959623586,
+              0.8470194531316428
+            ],
+            "target_position": [
+              0.2670534051646662,
+              -0.3837693488181927,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005455033009142551,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842603990410655,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194531316428,
+            "min_z": 0.5730800627579278,
+            "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": 0.07590738405219664,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08716282109176744,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15158360756644174,
+            "release_required_pad_clearance": 0.05358141054588372,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.172850467518191,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008174777030944824,
+            "max_z_decrease": 0.008174777030944824,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503578001134304,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008174777030944824,
+            "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": 0.020931207789844475,
+            "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": 0.008174777030944824,
+            "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": 0.008174858621705207,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12275332957506176,
+              -0.44003081321716303,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12275332957506176,
+              -0.44003081321716303,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12364987395850527,
+              -0.4386682667772037,
+              0.8036335104096665
+            ],
+            "closest_button": [
+              0.12277998030185695,
+              -0.44000583887100214,
+              0.7686340808868408
+            ],
+            "closest_ee_minus_button": [
+              0.0008698936566483156,
+              0.0013375720937984226,
+              0.03499942952282564
+            ],
+            "button_min_z_position": [
+              0.12277998030185695,
+              -0.44000583887100214,
+              0.7686340808868408
+            ],
+            "min_active_finger_to_button": 0.14453318936713225,
+            "closest_active_finger": [
+              -0.0031944960355758667,
+              -0.5020328760147095,
+              0.8110420107841492
+            ],
+            "closest_active_finger_button": [
+              0.12275556474924083,
+              -0.4400277137756347,
+              0.7766649127006531
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1259500607848167,
+              -0.06200516223907476,
+              0.034377098083496094
+            ],
+            "min_contact_pad_to_button": 0.020931207789844475,
+            "closest_contact_pad": [
+              0.12277998030185695,
+              -0.44000583887100214,
+              0.7895652886766853
+            ],
+            "closest_contact_pad_button": [
+              0.12277998030185695,
+              -0.44000583887100214,
+              0.7686340808868408
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020931207789844475
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "601f41c4ce49fa313beeb35d2fc3fe151d0d6ea076aab9c3c5bc3c5049bd7d45",
+    "visual_seed": 8376007352287654550,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc70df862605d1111886399db294a71acd108564
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16328132649912086,
+              0.2628814670521401,
+              1.043619355393132
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+            "current_z": 1.043619355393132,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18703278837992177,
+            "gripper_z": 1.0493599558521243,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15880805928996986,
+              0.25827642892974784,
+              1.0493599558521243
+            ],
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+              0.004473267209151005,
+              0.004605038122392269,
+              -0.005740600458992162
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+            "object_to_gripper_xy": 0.006420007448060456,
+            "object_to_gripper_z": -0.005740600458992162,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16328132649912086,
+              0.23892831871616177,
+              1.043619355393132
+            ],
+            "finger_b": [
+              0.15172218999668804,
+              0.2628814670521401,
+              1.043619355393132
+            ],
+            "finger_midpoint": [
+              0.15750175824790447,
+              0.25090489288415097,
+              1.043619355393132
+            ],
+            "object_minus_finger_midpoint": [
+              0.005779568251216394,
+              0.01197657416798914,
+              0.0
+            ],
+            "finger_gap": 0.026596371028530498,
+            "fingertip_max_gap": 0.09252027307719579,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013298185514265218,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.043619355393132,
+            "object_top_z": 1.0897139518781915,
+            "finger_top_clearance": 0.046094596485059425,
+            "fingertip_min_top_clearance": 0.013828378945517793,
+            "object_projection_between_fingers": 0.8111112820221622,
+            "object_to_finger_line_xy": 0.010410356773169632,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487601365385979,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0583539878290402,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "348d1140ff806279fc59b6d489526af4387a341d9f5c434ac6bdd6134ac4de9e",
+    "visual_seed": 2461798148755840204,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..98ed1e19af260a9a0a6cc020cf87524c306ce53e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.2611540000355205,
+              1.0435013056886362
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+            "gripper_z": 1.0489165153825595,
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+            "gripper_position": [
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+              0.25674033562237064,
+              1.0489165153825595
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+              0.004418387793095252,
+              0.0044136644131498315,
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+            "object_to_gripper_z": -0.005415209693923284,
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+              0.23696117742045963,
+              1.0435013056886362
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+              0.24905758872799005,
+              1.0435013056886362
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+              0.01209641130753042,
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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": 0.04928597056694348,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
+                {
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.262499041309209,
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+              0.26666080931341546,
+              1.2344086146906879
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
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+            "held_gripper_dist": 0.00826431953409981,
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+            "max_held_gripper_z_dist": 0.005540222216026347,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0857273250381437,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.24199165365322997,
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+              0.25432623148332273,
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+              0.26666080931341546,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024473339290240356,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9994960447325346,
+              0.025626954853156247
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15450209133145734,
+            "release_required_pad_clearance": 0.053325155728320126,
+            "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": 1.6678432250407482,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008133530616760254,
+            "max_z_decrease": 0.008133530616760254,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506828510198593,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008133530616760254,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020964699709270198,
+            "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": 0.008133530616760254,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0081335878703303,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12146019935607912,
+              -0.4381940364837647,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12146019935607912,
+              -0.4381940364837647,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12301157958942449,
+              -0.43757455369564024,
+              0.8037050719733553
+            ],
+            "closest_button": [
+              0.12147983163595201,
+              -0.43817067146301275,
+              0.7686753273010254
+            ],
+            "closest_ee_minus_button": [
+              0.0015317479534724815,
+              0.000596117767372506,
+              0.03502974467232989
+            ],
+            "button_min_z_position": [
+              0.12147983163595201,
+              -0.43817067146301275,
+              0.7686753273010254
+            ],
+            "min_active_finger_to_button": 0.14428642480513185,
+            "closest_active_finger": [
+              -0.0037058591842651367,
+              -0.501185953617096,
+              0.8112112283706665
+            ],
+            "closest_active_finger_button": [
+              0.12145936489105226,
+              -0.4381929934024811,
+              0.7768000960350037
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12516522407531738,
+              -0.06299296021461487,
+              0.03441113233566284
+            ],
+            "min_contact_pad_to_button": 0.020964699709270198,
+            "closest_contact_pad": [
+              0.12147983163595201,
+              -0.4387002236748243,
+              0.789633337902102
+            ],
+            "closest_contact_pad_button": [
+              0.12147983163595201,
+              -0.43817067146301275,
+              0.7686753273010254
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000529552211811557,
+              0.020958010601076604
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18db1610e1214c26a6bcb43ad9f379bd06fb95f4203ddb69b1e20b2d1d98f055",
+    "visual_seed": 2764608222761024951,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..239d08e1a0241b8ce58c7b52949a00d66e86414e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16830464322430383,
+              0.2594707003372238,
+              1.044937529423601
+            ],
+            "current_z": 1.044937529423601,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18835096241039062,
+            "gripper_z": 1.0503448386467908,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1635007305988119,
+              0.25487526079942774,
+              1.0503448386467908
+            ],
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+              0.0048039126254919295,
+              0.004595439537796064,
+              -0.005407309223189882
+            ],
+            "object_to_gripper_xy": 0.006647980224015417,
+            "object_to_gripper_z": -0.005407309223189882,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16830464322430383,
+              0.23486956482976265,
+              1.044937529423601
+            ],
+            "finger_b": [
+              0.15731932989238426,
+              0.2594707003372238,
+              1.044937529423601
+            ],
+            "finger_midpoint": [
+              0.16281198655834406,
+              0.24717013258349324,
+              1.044937529423601
+            ],
+            "object_minus_finger_midpoint": [
+              0.005492656665959772,
+              0.012300567753730562,
+              0.0
+            ],
+            "finger_gap": 0.026942401104150235,
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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": 1.0911260357864938,
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+            "object_projection_between_fingers": 0.8337535796854272,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931828000744298,
+            "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": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16664812652629882,
+              0.2609995417673107,
+              1.2375289367669517
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+            "held_position": [
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+              0.26539374688128836,
+              1.2320079764486367
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00855972831149611,
+            "max_held_gripper_dist": 0.008570957508250942,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00552096031831506,
+            "max_held_gripper_z_dist": 0.005553092799016612,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08617504331831155,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1714936303542316,
+              0.24056547816102045,
+              1.2320079764486367
+            ],
+            "held_grasp_finger_b": [
+              0.1613715566110134,
+              0.26539374688128836,
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+                "beaker_b"
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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",
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+                "gripper",
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+                "joint1",
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+                "joint5",
+                "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",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26812580902929584,
+              -0.3765871187817773,
+              0.8470194521954727
+            ],
+            "target_position": [
+              0.2632173923074455,
+              -0.37795155812180803,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005094531325643546,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18575816177841453,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194521954727,
+            "min_z": 0.5730800627579278,
+            "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": 0.07546575865266097,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08782469710396683,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542154537923141,
+            "release_required_pad_clearance": 0.053912348551983416,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8338536616927694,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008060753345489502,
+            "max_z_decrease": 0.008060753345489502,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035106225566195616,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008060753345489502,
+            "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": 0.021043055317728845,
+            "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": 0.008060753345489502,
+            "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": 0.008060762673850032,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11891731619834894,
+              -0.43421301245689387,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11891731619834894,
+              -0.43421301245689387,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11864113083689226,
+              -0.43350298242521146,
+              0.8076210610738267
+            ],
+            "closest_button": [
+              0.11890781670808787,
+              -0.4342078864574432,
+              0.7725229263305664
+            ],
+            "closest_ee_minus_button": [
+              -0.0002666858711956044,
+              0.0007049040322317235,
+              0.03509813474326029
+            ],
+            "button_min_z_position": [
+              0.11891254037618632,
+              -0.43420171737670893,
+              0.7687481045722961
+            ],
+            "min_active_finger_to_button": 0.1461399230167436,
+            "closest_active_finger": [
+              -0.009685426950454712,
+              -0.49452877044677734,
+              0.8109588623046875
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+            "closest_active_finger_button": [
+              0.1189176738262176,
+              -0.4342114925384521,
+              0.7766085267066956
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1286031007766723,
+              -0.06031727790832525,
+              0.03435033559799194
+            ],
+            "min_contact_pad_to_button": 0.021043055317728845,
+            "closest_contact_pad": [
+              0.11891254037618632,
+              -0.4348092134118137,
+              0.7897823891018999
+            ],
+            "closest_contact_pad_button": [
+              0.11891254037618632,
+              -0.43420171737670893,
+              0.7687481045722961
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006074960351047931,
+              0.021034284529603764
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e728d2a282f9c932ffcd8fb5aea1f14443456b0aa5dcfe4482416d92fbd4255",
+    "visual_seed": 6142752620830463980,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..76349c88ec468a54963aae1fa1a620d4599a6b37
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16415764804092503,
+              0.25562472795749874,
+              1.0436474413881265
+            ],
+            "current_z": 1.0436474413881265,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18706087437491614,
+            "gripper_z": 1.049261589927499,
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+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12165101617574689,
+              -0.4402312636375427,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12241286404201016,
+              -0.4421586832008896,
+              0.8075606555380506
+            ],
+            "closest_button": [
+              0.12163992226123806,
+              -0.4402264356613159,
+              0.7724666595458984
+            ],
+            "closest_ee_minus_button": [
+              0.000772941780772099,
+              -0.0019322475395736616,
+              0.03509399599215213
+            ],
+            "button_min_z_position": [
+              0.121637150645256,
+              -0.44022464752197266,
+              0.7687695622444153
+            ],
+            "min_active_finger_to_button": 0.14524782624465385,
+            "closest_active_finger": [
+              -0.01879756897687912,
+              -0.42675137519836426,
+              0.811063826084137
+            ],
+            "closest_active_finger_button": [
+              0.12165183573961254,
+              -0.4402289390563965,
+              0.7765783071517944
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14044940471649164,
+              0.013477563858032227,
+              0.03448551893234253
+            ],
+            "min_contact_pad_to_button": 0.021246748069437667,
+            "closest_contact_pad": [
+              0.121637150645256,
+              -0.44315397082905655,
+              0.7898134062014667
+            ],
+            "closest_contact_pad_button": [
+              0.121637150645256,
+              -0.44022464752197266,
+              0.7687695622444153
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029293233070838975,
+              0.02104384395705139
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "04a2774679777e385ac56a88cb536958e5ee33167728f5b85e61c85cf7336b75",
+    "visual_seed": 2592028803881132982,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e004b02ea3ded9b5e6128e4b27819f6f39504fc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16186304506820284,
+              0.26047910814149017,
+              1.0424451596806117
+            ],
+            "current_z": 1.0424451596806117,
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+            "lift_margin": 0.1858584734581118,
+            "gripper_z": 1.0479894862631836,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15772590662274996,
+              0.2561009735615851,
+              1.0479894862631836
+            ],
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+              0.0041371384454528815,
+              0.004378134579905046,
+              -0.005544326582571868
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+            "object_to_gripper_xy": 0.006023618257874965,
+            "object_to_gripper_z": -0.005544326582571868,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16186304506820284,
+              0.23669943840210655,
+              1.0424451596806117
+            ],
+            "finger_b": [
+              0.15074646522307722,
+              0.26047910814149017,
+              1.0424451596806117
+            ],
+            "finger_midpoint": [
+              0.15630475514564002,
+              0.24858927327179836,
+              1.0424451596806117
+            ],
+            "object_minus_finger_midpoint": [
+              0.005558289922562826,
+              0.011889834869691807,
+              0.0
+            ],
+            "finger_gap": 0.026249781720372647,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013124890860186329,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0424451596806117,
+            "object_top_z": 1.0888645583598635,
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+            "fingertip_min_top_clearance": 0.01392581960377553,
+            "object_projection_between_fingers": 0.8206542908821446,
+            "object_to_finger_line_xy": 0.010070506496570698,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048905264390335004,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1440106118841016,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16121917310774242,
+              0.26147367240351327,
+              1.2350663605623238
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+            "held_position": [
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+              0.26550464780455935,
+              1.2294013048273225
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008185626301452361,
+            "max_held_gripper_dist": 0.008189541694041668,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005665055735001312,
+            "max_held_gripper_z_dist": 0.005692271689756723,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08630305864861293,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.24089329185217795,
+              1.2294013048273225
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+              0.26550464780455935,
+              1.2294013048273225
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+              0.25319896982836865,
+              1.2294013048273225
+            ],
+            "held_grasp_object_position": [
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+              0.26550464780455935,
+              1.2294013048273225
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+            "held_grasp_finger_gap": 0.026328177027509725,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0240856069831998,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05163250632264549,
+              -0.9982569878565222,
+              0.028584444833953393
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004049840000402776,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03267457039732173,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27138382624233615,
+              -0.3823331560855466,
+              0.8470198820446829
+            ],
+            "target_position": [
+              0.26705011590456773,
+              -0.3829564478011153,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004378303079319367,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1818728596428871,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198820446829,
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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",
+            "release_finger_gap": 0.07578178740933031,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556218226236446,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1495546431400689,
+            "release_required_pad_clearance": 0.052781091131182234,
+            "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": 0.6090905255491891,
+            "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": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008248448371887207,
+            "max_z_decrease": 0.008248448371887207,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035062631991627215,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008248448371887207,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02094854195263507,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008248448371887207,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0082485262596067,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12275004386901851,
+              -0.4392178952693939,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12275004386901851,
+              -0.4392178952693939,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12403353723151778,
+              -0.4375917135366992,
+              0.8035638647797517
+            ],
+            "closest_button": [
+              0.1227762401103973,
+              -0.43919342756271357,
+              0.7685604095458984
+            ],
+            "closest_ee_minus_button": [
+              0.0012572971211204792,
+              0.0016017140260143892,
+              0.03500345523385329
+            ],
+            "button_min_z_position": [
+              0.1227762401103973,
+              -0.43919342756271357,
+              0.7685604095458984
+            ],
+            "min_active_finger_to_button": 0.1440895931441258,
+            "closest_active_finger": [
+              -0.0020851939916610718,
+              -0.5024031400680542,
+              0.8110209107398987
+            ],
+            "closest_active_finger_button": [
+              0.12275161594152446,
+              -0.43921512365341187,
+              0.7765991687774658
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12483680993318554,
+              -0.06318801641464233,
+              0.03442174196243286
+            ],
+            "min_contact_pad_to_button": 0.02094854195263507,
+            "closest_contact_pad": [
+              0.1227762401103973,
+              -0.43919342756271357,
+              0.7895089514985335
+            ],
+            "closest_contact_pad_button": [
+              0.1227762401103973,
+              -0.43919342756271357,
+              0.7685604095458984
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02094854195263507
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a66efe7f538219719f20a04b8ca69a09451f80b0947feb56471f7fe58907a78f",
+    "visual_seed": 2738271546919212636,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d31739d001457bfe2013d992a9c1ea34798917a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
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+              0.25834482785204477,
+              1.044906208718391
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+            "current_z": 1.044906208718391,
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+            "lift_margin": 0.18831970130982556,
+            "gripper_z": 1.0504199249424655,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15612331212376818,
+              0.253972569276638,
+              1.0504199249424655
+            ],
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+              0.004194578448070474,
+              0.00437225857540674,
+              -0.005513716224074594
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+            "object_to_gripper_xy": 0.006058971315927736,
+            "object_to_gripper_z": -0.005513716224074594,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16031789057183865,
+              0.23444250800338465,
+              1.044906208718391
+            ],
+            "finger_b": [
+              0.14931577606464896,
+              0.25834482785204477,
+              1.044906208718391
+            ],
+            "finger_midpoint": [
+              0.1548168333182438,
+              0.24639366792771472,
+              1.044906208718391
+            ],
+            "object_minus_finger_midpoint": [
+              0.005501057253594843,
+              0.011951159924330046,
+              0.0
+            ],
+            "finger_gap": 0.026312875513272306,
+            "fingertip_max_gap": 0.09104862931282565,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013156437756636141,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044906208718391,
+            "object_top_z": 1.0902029369291382,
+            "finger_top_clearance": 0.04529672821074726,
+            "fingertip_min_top_clearance": 0.013589018463224195,
+            "object_projection_between_fingers": 0.8251701040208294,
+            "object_to_finger_line_xy": 0.009994196940953326,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048024314656412825,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.905100121571084,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d9e6d746fd18165401104e39646dff79118fc73d3b3e585a8ea025f41e9dd7d",
+    "visual_seed": 7673032644096377980,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
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+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..15ed1450eb560df403deb2407b9f909b6c99a947
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.23719141242418137,
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+              0.24916887919478825,
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+            "stable_success_frames": 208,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
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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": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.15388038023695794,
+            "release_required_pad_clearance": 0.05262653193433932,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.31403502478804185,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.007924914360046387,
+            "max_z_decrease": 0.007924914360046387,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035133076026044575,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007924914360046387,
+            "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": 0.021057463241197505,
+            "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": 0.007924914360046387,
+            "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": 0.007924938498158092,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11962612718343733,
+              -0.43691179156303406,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11962612718343733,
+              -0.43691179156303406,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11819579278888678,
+              -0.43559380331882813,
+              0.8074198005755697
+            ],
+            "closest_button": [
+              0.11961546540260314,
+              -0.4369056522846222,
+              0.772339940071106
+            ],
+            "closest_ee_minus_button": [
+              -0.0014196726137163523,
+              0.0013118489657940602,
+              0.03507986050446377
+            ],
+            "button_min_z_position": [
+              0.1196072921156883,
+              -0.43690651655197144,
+              0.7688839435577393
+            ],
+            "min_active_finger_to_button": 0.1468864699604973,
+            "closest_active_finger": [
+              -0.008976951241493225,
+              -0.49896323680877686,
+              0.8108570575714111
+            ],
+            "closest_active_finger_button": [
+              0.11962720751762389,
+              -0.43691182136535645,
+              0.7764154076576233
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12860415875911713,
+              -0.06205141544342041,
+              0.03444164991378784
+            ],
+            "min_contact_pad_to_button": 0.021057463241197505,
+            "closest_contact_pad": [
+              0.1196072921156883,
+              -0.43690651655197144,
+              0.7899414067989368
+            ],
+            "closest_contact_pad_button": [
+              0.1196072921156883,
+              -0.43690651655197144,
+              0.7688839435577393
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021057463241197505
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3a546a87e2fbabfc1f7650055064b243f60b38027f5b4c7d4d58a3b01d6e1e1",
+    "visual_seed": 7249365936964067432,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9baafd0371b65a2536d384c6616ac1f85a19ff4a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16155351286848818,
+              0.2615247033740305,
+              1.0431446561857518
+            ],
+            "current_z": 1.0431446561857518,
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+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.18655814877718613,
+            "gripper_z": 1.0485292074331825,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15719938514631887,
+              0.2570513400349519,
+              1.0485292074331825
+            ],
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+              0.00435412772216931,
+              0.0044733633390786065,
+              -0.005384551247430647
+            ],
+            "object_to_gripper_xy": 0.006242548180380813,
+            "object_to_gripper_z": -0.005384551247430647,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16155351286848818,
+              0.23752880438325727,
+              1.0431446561857518
+            ],
+            "finger_b": [
+              0.1503604123798746,
+              0.2615247033740305,
+              1.0431446561857518
+            ],
+            "finger_midpoint": [
+              0.1559569626241814,
+              0.24952675387864387,
+              1.0431446561857518
+            ],
+            "object_minus_finger_midpoint": [
+              0.005596550244306775,
+              0.011997949495386628,
+              0.0
+            ],
+            "finger_gap": 0.02647807898854434,
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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": 1.0885638963388278,
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+            "object_projection_between_fingers": 0.8212986395886849,
+            "object_to_finger_line_xy": 0.010143806460980412,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0482686721458704,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0906233153564917,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1605366719548602,
+              0.26294477032877706,
+              1.2389201028938621
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+            "held_position": [
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+              0.26710272639545807,
+              1.23345154017706
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008231511105282417,
+            "max_held_gripper_dist": 0.008244783713469225,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005468562716802072,
+            "max_held_gripper_z_dist": 0.005497463077789089,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08638567809970177,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1650714264395419,
+              0.2424435195040309,
+              1.23345154017706
+            ],
+            "held_grasp_finger_b": [
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+              0.26710272639545807,
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+            ],
+            "held_grasp_midpoint": [
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+              0.25477312294974447,
+              1.23345154017706
+            ],
+            "held_grasp_object_position": [
+              0.1650714264395419,
+              0.26710272639545807,
+              1.23345154017706
+            ],
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2736758166812686,
+              -0.37727650604445273,
+              0.8470195285910703
+            ],
+            "target_position": [
+              0.2662209539481598,
+              -0.37969168081646126,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007836328703470835,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1886719720297915,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195285910703,
+            "min_z": 0.5730800627579278,
+            "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": 0.0756532139717853,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857931094331864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15678460211688489,
+            "release_required_pad_clearance": 0.0528965547165932,
+            "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": 0.8327420193533304,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007841885089874268,
+            "max_z_decrease": 0.007841885089874268,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351357744384181,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007841885089874268,
+            "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": 0.021049762947276496,
+            "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": 0.007841885089874268,
+            "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": 0.007841910282893421,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1219208836555481,
+              -0.4359531402587891,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1219208836555481,
+              -0.4359531402587891,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12080641046247625,
+              -0.4348112051068509,
+              0.8080092433990823
+            ],
+            "closest_button": [
+              0.12191165983676909,
+              -0.43594869971275335,
+              0.7729092836380005
+            ],
+            "closest_ee_minus_button": [
+              -0.0011052493742928354,
+              0.001137494605902456,
+              0.03509995976108182
+            ],
+            "button_min_z_position": [
+              0.12190157175064087,
+              -0.4359484314918518,
+              0.7689669728279114
+            ],
+            "min_active_finger_to_button": 0.14669350794597952,
+            "closest_active_finger": [
+              -0.007487550377845764,
+              -0.49590182304382324,
+              0.8108072280883789
+            ],
+            "closest_active_finger_button": [
+              0.12192156910896301,
+              -0.4359523057937622,
+              0.7764805555343628
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12940911948680878,
+              -0.059949517250061035,
+              0.03432667255401611
+            ],
+            "min_contact_pad_to_button": 0.021049762947276496,
+            "closest_contact_pad": [
+              0.12190157175064087,
+              -0.4360762223145236,
+              0.7900163478695171
+            ],
+            "closest_contact_pad_button": [
+              0.12190157175064087,
+              -0.4359484314918518,
+              0.7689669728279114
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00012779082267178055,
+              0.021049375041605756
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c9265500c252c667696ea8499d96360b77cfa06589feb371ffeb7f3770b571e1",
+    "visual_seed": 3259389271166293050,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa2142ce4e3787d02898c043eab2988ac6a9fdca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.15980679823563748,
+              0.2540983950359059,
+              1.045549656083188
+            ],
+            "current_z": 1.045549656083188,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.1889630890699776,
+            "gripper_z": 1.0510401539883218,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1559127501551355,
+              0.24998819914468856,
+              1.0510401539883218
+            ],
+            "object_minus_gripper": [
+              0.0038940480805019773,
+              0.004110195891217361,
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+              -0.0017852015476013117,
+              0.035054606120944576
+            ],
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+              0.7690622806549072
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+              -0.029237158596515656,
+              -0.42125606536865234,
+              0.8111395835876465
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+              0.7765843868255615
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+            "closest_active_finger_minus_button": [
+              -0.14265441149473185,
+              0.013284236192703247,
+              0.03455519676208496
+            ],
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+            "closest_contact_pad": [
+              0.1134007722139358,
+              -0.43734080254087365,
+              0.7901103841680266
+            ],
+            "closest_contact_pad_button": [
+              0.1134007722139358,
+              -0.4345343708992005,
+              0.7690622806549072
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002806431641673157,
+              0.021048103513119365
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbef4ebdfcc2d89f2efbfca15c8405dc2e33bb3086cb5a977bf2749243410666",
+    "visual_seed": 307092501025965153,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b413442d098919a333313fa7b93c705c26074390
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.2579364565355445,
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+            "lift_margin": 0.18766320679534643,
+            "gripper_z": 1.0498846247894176,
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+              0.1575323569785871,
+              0.2536196247098924,
+              1.0498846247894176
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+              0.003992328747114304,
+              0.004316831825652068,
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+            "object_to_gripper_z": -0.005634791376216031,
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+              0.23426406963824317,
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+              0.2461002630868938,
+              1.0442498334132015
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+              0.011836193448650667,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881343321149732,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
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+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "max_held_gripper_z_dist": 0.005773486672446593,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.086287233522991,
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+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.25072539362019874,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02405404631493851,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9985469347028726,
+              0.02342585238174599
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004018435060487412,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26880841571945757,
+              -0.3831523898776277,
+              0.8470196877407494
+            ],
+            "target_position": [
+              0.26430217653659094,
+              -0.3837737694539904,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004548879439062246,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18520728229530345,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196877407494,
+            "min_z": 0.5730800627579278,
+            "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": 0.07542800229131225,
+            "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": 0.1534674783727843,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008150458335876465,
+            "max_z_decrease": 0.008150458335876465,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035080443812194606,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008150458335876465,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02094086349552915,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.008150458335876465,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008150530908348396,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1200021058320999,
+              -0.44003522396087635,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1200021058320999,
+              -0.44003522396087635,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12163955745827565,
+              -0.4386868382107557,
+              0.8036767158202683
+            ],
+            "closest_button": [
+              0.12002695351839066,
+              -0.44001144170761103,
+              0.7686583995819092
+            ],
+            "closest_ee_minus_button": [
+              0.0016126039398849934,
+              0.0013246034968553144,
+              0.03501831623835916
+            ],
+            "button_min_z_position": [
+              0.12002695351839066,
+              -0.44001144170761103,
+              0.7686583995819092
+            ],
+            "min_active_finger_to_button": 0.1438823171086055,
+            "closest_active_finger": [
+              -0.005720049142837524,
+              -0.5009819269180298,
+              0.8104954361915588
+            ],
+            "closest_active_finger_button": [
+              0.12000291794538498,
+              -0.4400326907634734,
+              0.7761290669441223
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1257229670882225,
+              -0.060949236154556385,
+              0.03436636924743652
+            ],
+            "min_contact_pad_to_button": 0.02094086349552915,
+            "closest_contact_pad": [
+              0.12002695351839066,
+              -0.44001144170761103,
+              0.7895992630774383
+            ],
+            "closest_contact_pad_button": [
+              0.12002695351839066,
+              -0.44001144170761103,
+              0.7686583995819092
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02094086349552915
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "55feb56fada5f22073835a90a3a1a437d1555b179c79187a97efa2d7108ff69a",
+    "visual_seed": 6243638708805686792,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57238f9f006d6ebc04730eb525344b4dc6afd815
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16293502492695675,
+              0.25462861440393025,
+              1.0444588469207703
+            ],
+            "current_z": 1.0444588469207703,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18787233951220472,
+            "gripper_z": 1.050138276178456,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15856863975532376,
+              0.2502073063390567,
+              1.050138276178456
+            ],
+            "object_minus_gripper": [
+              0.004366385171632986,
+              0.004421308064873564,
+              -0.005679429257685609
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+            "object_to_gripper_xy": 0.006213958840511614,
+            "object_to_gripper_z": -0.005679429257685609,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16293502492695675,
+              0.23050256212176748,
+              1.0444588469207703
+            ],
+            "finger_b": [
+              0.15196947464997668,
+              0.25462861440393025,
+              1.0444588469207703
+            ],
+            "finger_midpoint": [
+              0.15745224978846672,
+              0.24256558826284885,
+              1.0444588469207703
+            ],
+            "object_minus_finger_midpoint": [
+              0.00548277513849002,
+              0.012063026141081401,
+              0.0
+            ],
+            "finger_gap": 0.026501126232645836,
+            "fingertip_max_gap": 0.09179221290868839,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013250563116322925,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0444588469207703,
+            "object_top_z": 1.0901995965745623,
+            "finger_top_clearance": 0.045740749653792045,
+            "fingertip_min_top_clearance": 0.013722224896137596,
+            "object_projection_between_fingers": 0.8287887888841824,
+            "object_to_finger_line_xy": 0.009982799861509626,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048396106454344195,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8149498582321572,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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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": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88c72ecb1df558f72bee06be91355ec595f5962ed0e12a37540c51e2037b0ed8",
+    "visual_seed": 8601596397279093629,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
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+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfc9478d6219f1cb19648171d2fe3f3669132aeb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.24656841303118343,
+              1.0434653421805937
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+              0.011927959413794875,
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+              0.0,
+              1.0
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+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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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",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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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": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+            "release_min_pad_clearance": 0.15575583340585908,
+            "release_required_pad_clearance": 0.052762970767824144,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5747104593975171,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008194565773010254,
+            "max_z_decrease": 0.008194565773010254,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503986505556819,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008194565773010254,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0211039572114784,
+            "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": 0.008194565773010254,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00819459408156175,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12292868643999101,
+              -0.43876221776008606,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12292868643999101,
+              -0.43876221776008606,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12190619839293171,
+              -0.4404708184113121,
+              0.8035963517751474
+            ],
+            "closest_button": [
+              0.12293416261672974,
+              -0.43874138593673706,
+              0.7686142921447754
+            ],
+            "closest_ee_minus_button": [
+              -0.001027964223798028,
+              -0.0017294324745750211,
+              0.03498205963037204
+            ],
+            "button_min_z_position": [
+              0.12293416261672974,
+              -0.43874138593673706,
+              0.7686142921447754
+            ],
+            "min_active_finger_to_button": 0.14662777375392072,
+            "closest_active_finger": [
+              -0.018884897232055664,
+              -0.4245748519897461,
+              0.8111991286277771
+            ],
+            "closest_active_finger_button": [
+              0.12293164432048798,
+              -0.4387606680393219,
+              0.7767530083656311
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14181654155254364,
+              0.014185816049575806,
+              0.034446120262145996
+            ],
+            "min_contact_pad_to_button": 0.0211039572114784,
+            "closest_contact_pad": [
+              0.12293416261672974,
+              -0.4416361691782024,
+              0.7895187710899403
+            ],
+            "closest_contact_pad_button": [
+              0.12293416261672974,
+              -0.43874138593673706,
+              0.7686142921447754
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028947832414653596,
+              0.020904478945164895
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "357a2e7464b7d7a2046bbc1b8db0cfe03c29430b7ef9210804a01474b09d2b0e",
+    "visual_seed": 6401589590897124879,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc4c94714360813f918ce3580dbd3fb7f9847cd2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16824351716898694,
+              0.2564058199289442,
+              1.0428921458547078
+            ],
+            "current_z": 1.0428921458547078,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18630563844614223,
+            "gripper_z": 1.0484020681397719,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1636327870380527,
+              0.25184353837501616,
+              1.0484020681397719
+            ],
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+              0.004610730130934243,
+              0.004562281553928016,
+              -0.005509922285064084
+            ],
+            "object_to_gripper_xy": 0.006486389235747169,
+            "object_to_gripper_z": -0.005509922285064084,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16824351716898694,
+              0.2321397505925397,
+              1.0428921458547078
+            ],
+            "finger_b": [
+              0.15703191643730183,
+              0.2564058199289442,
+              1.0428921458547078
+            ],
+            "finger_midpoint": [
+              0.16263771680314437,
+              0.24427278526074192,
+              1.0428921458547078
+            ],
+            "object_minus_finger_midpoint": [
+              0.005605800365842573,
+              0.012133034668202258,
+              0.0
+            ],
+            "finger_gap": 0.02673092052298073,
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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": 1.0428921458547078,
+            "object_top_z": 1.0887841019626414,
+            "finger_top_clearance": 0.04589195610793362,
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+            "object_projection_between_fingers": 0.8240831591942867,
+            "object_to_finger_line_xy": 0.01017778196202638,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864632781124448,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0787549465703028,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1670700587086811,
+              0.25744200003349915,
+              1.2353378113680096
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+            "held_position": [
+              0.17181441322112428,
+              0.2617071142448155,
+              1.2297064125045263
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008509568269598271,
+            "max_held_gripper_dist": 0.00851319799706523,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0056313988634832945,
+            "max_held_gripper_z_dist": 0.005659847893345393,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08626394607336729,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17181441322112428,
+              0.23689701243145975,
+              1.2297064125045263
+            ],
+            "held_grasp_finger_b": [
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+              0.2617071142448155,
+              1.2297064125045263
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+            "held_grasp_midpoint": [
+              0.1669033299541307,
+              0.24930206333813765,
+              1.2297064125045263
+            ],
+            "held_grasp_object_position": [
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+              0.2617071142448155,
+              1.2297064125045263
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+            "held_grasp_finger_gap": 0.026683629951909787,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27230183546366343,
+              -0.3774577027373699,
+              0.8470195802744522
+            ],
+            "target_position": [
+              0.2668984406093565,
+              -0.37869333987582077,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0055428760665803675,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18325160027426507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195802744522,
+            "min_z": 0.5730800627579278,
+            "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": 0.07542783331280985,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583698347516967,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15184196324422736,
+            "release_required_pad_clearance": 0.05291849173758484,
+            "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": 0.8749094742407507,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008055627346038818,
+            "max_z_decrease": 0.008055627346038818,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509802873165927,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008055627346038818,
+            "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": 0.021049499499965044,
+            "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": 0.008055627346038818,
+            "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": 0.008055638806833167,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12259836494922637,
+              -0.43495479226112366,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12259836494922637,
+              -0.43495479226112366,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12113557023534943,
+              -0.43513274777216676,
+              0.8075930768042869
+            ],
+            "closest_button": [
+              0.12258972972631453,
+              -0.4349486529827118,
+              0.7725256681442261
+            ],
+            "closest_ee_minus_button": [
+              -0.0014541594909650984,
+              -0.00018409478945496938,
+              0.03506740866006086
+            ],
+            "button_min_z_position": [
+              0.12259157747030257,
+              -0.4349430203437805,
+              0.7687532305717468
+            ],
+            "min_active_finger_to_button": 0.1475533570086947,
+            "closest_active_finger": [
+              -0.0054093897342681885,
+              -0.4997631311416626,
+              0.8107460141181946
+            ],
+            "closest_active_finger_button": [
+              0.12259913235902785,
+              -0.4349534213542938,
+              0.7763147354125977
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12800852209329605,
+              -0.06480970978736877,
+              0.034431278705596924
+            ],
+            "min_contact_pad_to_button": 0.021049499499965044,
+            "closest_contact_pad": [
+              0.12259157747030257,
+              -0.43610017136821605,
+              0.78977090005972
+            ],
+            "closest_contact_pad_button": [
+              0.12259157747030257,
+              -0.4349430203437805,
+              0.7687532305717468
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001157151024435532,
+              0.021017669487973123
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2becd35341ecedb9cdaab5ddd3b42be24c7ce5d0c23b30dd02c1d1fd12b0eac",
+    "visual_seed": 7547859648966561297,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba101f8abd09514bf82d58c94d4173a80c7616e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.1629049804195543,
+              0.2648559028556086,
+              1.0440896122283831
+            ],
+            "current_z": 1.0440896122283831,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.1875030452151727,
+            "gripper_z": 1.0496532794835798,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1585852382412434,
+              0.2603873394642945,
+              1.0496532794835798
+            ],
+            "object_minus_gripper": [
+              0.004319742178310909,
+              0.004468563391314129,
+              -0.005563667255196636
+            ],
+            "object_to_gripper_xy": 0.006215161403316177,
+            "object_to_gripper_z": -0.005563667255196636,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+            "closest_active_finger": [
+              -0.010275155305862427,
+              -0.5015345811843872,
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+            ],
+            "closest_active_finger_button": [
+              0.11658763885498047,
+              -0.4381572306156159,
+              0.7763715386390686
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.0633773505687713,
+              0.03446686267852783
+            ],
+            "min_contact_pad_to_button": 0.021072848512136217,
+            "closest_contact_pad": [
+              0.11656591296195982,
+              -0.4384704810724783,
+              0.7898505986023314
+            ],
+            "closest_contact_pad_button": [
+              0.11656591296195982,
+              -0.4381549656391144,
+              0.7687801122665405
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003155154333639443,
+              0.021070486335790894
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44c049fc9b5cebc3b1b36e204f6b4830cc2fa9eb01f810bd46e734e699150cfb",
+    "visual_seed": 8456461399255644028,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b84cbe31dff204d6b0a42c16600cc16f49f172c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16554610751609053,
+              0.255308000084895,
+              1.0444124361825797
+            ],
+            "current_z": 1.0444124361825797,
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+            "lift_margin": 0.18782592877401416,
+            "gripper_z": 1.0500413979346452,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16125582585900997,
+              0.25099378590807453,
+              1.0500413979346452
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+              0.0042902816570805635,
+              0.004314214176820486,
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+            "object_to_gripper_xy": 0.006084320887376077,
+            "object_to_gripper_z": -0.005628961752065509,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.16554610751609053,
+              0.23111793007251713,
+              1.0444124361825797
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+            "finger_b": [
+              0.15489147537995537,
+              0.255308000084895,
+              1.0444124361825797
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+            "finger_midpoint": [
+              0.16021879144802295,
+              0.24321296507870607,
+              1.0444124361825797
+            ],
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+              0.012095035006188942,
+              0.0
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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_to_finger_line_xy": 0.009750709551023718,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049269888718536214,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3566781748014407,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "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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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2566072400436814,
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+              0.26066598692828624,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008286861114721732,
+            "max_held_gripper_dist": 0.00828894436266652,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0057496029553716355,
+            "max_held_gripper_z_dist": 0.00577603372465374,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08617977768681445,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.23603468391226196,
+              1.231321503996259
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+              0.2483503354202741,
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+            "held_grasp_object_position": [
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+              0.26066598692828624,
+              1.231321503996259
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024364953632594014,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.999167982103073,
+              0.0313072630757647
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004396613507363816,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2682030786606746,
+              -0.3859454541993085,
+              0.8470199043606838
+            ],
+            "target_position": [
+              0.2634240499230857,
+              -0.3866788636662379,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0048349772616716824,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1836693359514855,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199043606838,
+            "min_z": 0.5730800627579278,
+            "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": 0.07589593305808884,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08737399599213753,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1510111317629375,
+            "release_required_pad_clearance": 0.05368699799606877,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3834661610118273,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008078455924987793,
+            "max_z_decrease": 0.008078455924987793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511657196418968,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008078455924987793,
+            "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": 0.021024641940782796,
+            "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": 0.008078455924987793,
+            "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": 0.008078470579177238,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11912397295236588,
+              -0.4429403245449066,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11912397295236588,
+              -0.4429403245449066,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11984019708656118,
+              -0.4416873101898595,
+              0.8038178251229882
+            ],
+            "closest_button": [
+              0.11912287771701813,
+              -0.4429249763488769,
+              0.7687304019927979
+            ],
+            "closest_ee_minus_button": [
+              0.0007173193695430569,
+              0.001237666159017381,
+              0.03508742313019031
+            ],
+            "button_min_z_position": [
+              0.11912287771701813,
+              -0.4429249763488769,
+              0.7687304019927979
+            ],
+            "min_active_finger_to_button": 0.14478610090696617,
+            "closest_active_finger": [
+              -0.0060555413365364075,
+              -0.507002055644989,
+              0.810971200466156
+            ],
+            "closest_active_finger_button": [
+              0.11912602931261063,
+              -0.4429374039173126,
+              0.776499330997467
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12518157064914703,
+              -0.06406465172767639,
+              0.034471869468688965
+            ],
+            "min_contact_pad_to_button": 0.021024641940782796,
+            "closest_contact_pad": [
+              0.11912287771701813,
+              -0.4429249763488769,
+              0.7897550439335806
+            ],
+            "closest_contact_pad_button": [
+              0.11912287771701813,
+              -0.4429249763488769,
+              0.7687304019927979
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021024641940782796
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e054f8a2729e88835f6ad7a1a5a9b54981d8bc2c1b8acf7a3e2fdfbe0fbdeba5",
+    "visual_seed": 7134374102124840694,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac853589d003da81cd881bbd5dc0f08d40df2dab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16645528240696777,
+              0.26142802393749304,
+              1.0447287511137375
+            ],
+            "current_z": 1.0447287511137375,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.18814224370517185,
+            "gripper_z": 1.050414886298667,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1617141775353013,
+              0.2568990141977966,
+              1.050414886298667
+            ],
+            "object_minus_gripper": [
+              0.004741104871666485,
+              0.0045290097396964435,
+              -0.005686135184929553
+            ],
+            "object_to_gripper_xy": 0.006556676339915287,
+            "object_to_gripper_z": -0.005686135184929553,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16645528240696777,
+              0.2369106868782488,
+              1.0447287511137375
+            ],
+            "finger_b": [
+              0.15554803892617167,
+              0.26142802393749304,
+              1.0447287511137375
+            ],
+            "finger_midpoint": [
+              0.16100166066656973,
+              0.2491693554078709,
+              1.0447287511137375
+            ],
+            "object_minus_finger_midpoint": [
+              0.00545362174039804,
+              0.012258668529622124,
+              0.0
+            ],
+            "finger_gap": 0.02683407864686173,
+            "fingertip_max_gap": 0.09243120151928752,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013417039323430859,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0447287511137375,
+            "object_top_z": 1.0901809761751813,
+            "finger_top_clearance": 0.04545222506144375,
+            "fingertip_min_top_clearance": 0.013635667518433125,
+            "object_projection_between_fingers": 0.834782274421754,
+            "object_to_finger_line_xy": 0.009965557913321446,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871560075964376,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.985478652300204,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
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+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
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+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
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+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "565094e83f23f139c727c4ea4d2511962a57cf307429432afecc7be30808eb6d",
+    "visual_seed": 6048112984553933297,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ca4b203f8a02ecdf7b8fe645aeb0ba9a3fc4028
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.25987608432886333,
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+              0.255295161300929,
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+              0.004580923027934336,
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+              0.2356932244036689,
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+              0.24778465436626612,
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+              1.0
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+            "stable_success_frames": 207,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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",
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+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.25276273398346316,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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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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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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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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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15380063242917888,
+            "release_required_pad_clearance": 0.052584704396682946,
+            "release_pad_clearance_ok": true,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.23406785443532518,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008211791515350342,
+            "max_z_decrease": 0.008211791515350342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501917642080458,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008211791515350342,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0210629941965577,
+            "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": 0.008211791515350342,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008211866642378251,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12107992172241207,
+              -0.43780946731567383,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12107992172241207,
+              -0.43780946731567383,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12166493977611581,
+              -0.4391112402733114,
+              0.8036556493898024
+            ],
+            "closest_button": [
+              0.12110375612974163,
+              -0.4377867579460144,
+              0.7686660289764404
+            ],
+            "closest_ee_minus_button": [
+              0.0005611836463741832,
+              -0.001324482327296983,
+              0.034989620413361955
+            ],
+            "button_min_z_position": [
+              0.1211050376296043,
+              -0.43778491020202637,
+              0.7685970664024353
+            ],
+            "min_active_finger_to_button": 0.14516053664485276,
+            "closest_active_finger": [
+              -0.019305899739265442,
+              -0.4247199296951294,
+              0.811244010925293
+            ],
+            "closest_active_finger_button": [
+              0.12108463048934932,
+              -0.43780556321144104,
+              0.7767353653907776
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14039053022861475,
+              0.013085633516311646,
+              0.03450864553451538
+            ],
+            "min_contact_pad_to_button": 0.0210629941965577,
+            "closest_contact_pad": [
+              0.1211050376296043,
+              -0.4401501983409895,
+              0.7895268331604263
+            ],
+            "closest_contact_pad_button": [
+              0.1211050376296043,
+              -0.43778491020202637,
+              0.7685970664024353
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023652881389631397,
+              0.020929766757990964
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85f54c2ff746787344b3fa7009009bc527391631ee1be4ac2d03aa3642f9b6fb",
+    "visual_seed": 3720953727063747668,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b56c96d01241f090de77b588fa2d9eba2638a69a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16899444475028394,
+              0.25873733001220256,
+              1.0434979585954278
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+            "current_z": 1.0434979585954278,
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+            "lift_margin": 0.18691145118686225,
+            "gripper_z": 1.0489204731337367,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16432848626049384,
+              0.25410070587172107,
+              1.0489204731337367
+            ],
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+              0.004665958489790095,
+              0.004636624140481493,
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+            "object_to_gripper_xy": 0.006577951964596581,
+            "object_to_gripper_z": -0.005422514538308887,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.16899444475028394,
+              0.2345385478008934,
+              1.0434979585954278
+            ],
+            "finger_b": [
+              0.15756828559007316,
+              0.25873733001220256,
+              1.0434979585954278
+            ],
+            "finger_midpoint": [
+              0.16328136517017855,
+              0.24663793890654798,
+              1.0434979585954278
+            ],
+            "object_minus_finger_midpoint": [
+              0.00571307958010539,
+              0.012099391105654583,
+              0.0
+            ],
+            "finger_gap": 0.026760758092117677,
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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_to_finger_line_xy": 0.010332260994920715,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862577544006713,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0357284113907856,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16767671219508823,
+              0.25981538407960747,
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+            "held_position": [
+              0.17250070855412383,
+              0.26413504704331303,
+              1.2316928965308194
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008524345324921573,
+            "max_held_gripper_dist": 0.008526618876846831,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005543828480979007,
+            "max_held_gripper_z_dist": 0.005574508942408629,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08607025599233847,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2393065976661752,
+              1.2316928965308194
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+              0.25172082235474413,
+              1.2316928965308194
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+            "held_grasp_object_position": [
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+              0.26413504704331303,
+              1.2316928965308194
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+            "held_grasp_finger_gap": 0.02676081562215693,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02444258739532316,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.036489451369417863,
+              -0.9991326613590614,
+              0.020061030489939125
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+                "beaker_b"
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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"
+              ],
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+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2739738425010496,
+              -0.3828275698561079,
+              0.8470198490415985
+            ],
+            "target_position": [
+              0.26666532003105914,
+              -0.38513617486043594,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007664473743210568,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1868921155135684,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198490415985,
+            "min_z": 0.5730800627579278,
+            "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": 0.07551005619835868,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535614078032856,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15526405174291047,
+            "release_required_pad_clearance": 0.05267807039016428,
+            "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": 0.4111671798980703,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008189678192138672,
+            "max_z_decrease": 0.008189678192138672,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035005746350355145,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008189678192138672,
+            "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": 0.02092691156206744,
+            "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": 0.008189678192138672,
+            "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": 0.008189772395092205,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1223652437329292,
+              -0.44139763712882985,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1223652437329292,
+              -0.44139763712882985,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12301721082711814,
+              -0.44081411032173984,
+              0.8036149494978256
+            ],
+            "closest_button": [
+              0.12239488214254375,
+              -0.4413718581199645,
+              0.768619179725647
+            ],
+            "closest_ee_minus_button": [
+              0.0006223286845743886,
+              0.0005577477982246504,
+              0.034995769772178664
+            ],
+            "button_min_z_position": [
+              0.12239488214254375,
+              -0.4413718581199645,
+              0.768619179725647
+            ],
+            "min_active_finger_to_button": 0.14504542112788135,
+            "closest_active_finger": [
+              -0.004779919981956482,
+              -0.5021776556968689,
+              0.810930073261261
+            ],
+            "closest_active_finger_button": [
+              0.12236609309911724,
+              -0.44139561057090754,
+              0.7766137719154358
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271460130810737,
+              -0.06078204512596136,
+              0.034316301345825195
+            ],
+            "min_contact_pad_to_button": 0.02092691156206744,
+            "closest_contact_pad": [
+              0.12239488214254375,
+              -0.4421615581839763,
+              0.7895311858784648
+            ],
+            "closest_contact_pad_button": [
+              0.12239488214254375,
+              -0.4413718581199645,
+              0.768619179725647
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007897000640118002,
+              0.020912006152817852
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b964fa9eadacbfdb88074ada814c2d58b1376ba9e227710d6bba49b4067f8d78",
+    "visual_seed": 6259820577923775493,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0117a7251c9d392d065273d8a8ff0fc0c9653712
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16639209942398303,
+              0.2617901053899284,
+              1.0434746799245307
+            ],
+            "current_z": 1.0434746799245307,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.18688811291132024,
+            "gripper_z": 1.049048435519602,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16168066685264354,
+              0.2570604670805552,
+              1.049048435519602
+            ],
+            "object_minus_gripper": [
+              0.004711432571339491,
+              0.00472963830937323,
+              -0.005573755595071228
+            ],
+            "object_to_gripper_xy": 0.00667585765364792,
+            "object_to_gripper_z": -0.005573755595071228,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16639209942398303,
+              0.23766107120317687,
+              1.0434746799245307
+            ],
+            "finger_b": [
+              0.15466292405878979,
+              0.2617901053899284,
+              1.0434746799245307
+            ],
+            "finger_midpoint": [
+              0.1605275117413864,
+              0.24972558829655264,
+              1.0434746799245307
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058645876825966226,
+              0.012064517093375776,
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+              0.12024512887001033,
+              -0.43460926413536066,
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+              -0.12937220931053156,
+              -0.06144976615905767,
+              0.03439217805862427
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+            "closest_contact_pad": [
+              0.12022670358419414,
+              -0.43538409349685947,
+              0.7900233721619716
+            ],
+            "closest_contact_pad_button": [
+              0.12022670358419414,
+              -0.43460395932197565,
+              0.7689763307571411
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007801341748838175,
+              0.02104704140483049
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e9edffb6bd876ee7a770d22832d84dedf16a758b4b29170a092682076e808623",
+    "visual_seed": 784102679765647433,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fc48674f70b964faf1b7367e84787dfbbc62481
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2575662400514118,
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+              0.2530444176846669,
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+              0.004521822366744921,
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+            "object_to_gripper_z": -0.0055915900597354184,
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+              0.23353386347739236,
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+              0.2455500517644021,
+              1.0424347120676491
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+              0.012016188287009733,
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 204,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2631740910502753,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0057255976832359945,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2631740910502753,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.00445237198421387,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "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
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2670498928310403,
+              -0.37967509444647585,
+              0.8470200702254838
+            ],
+            "target_position": [
+              0.2613929615407039,
+              -0.3812982138319327,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005885183783284326,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18628937616550928,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200702254838,
+            "min_z": 0.5730800627579278,
+            "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": 0.0757138604186506,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08558927291904463,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15407395139073166,
+            "release_required_pad_clearance": 0.052794636459522315,
+            "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": 0.6342691006242739,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008066892623901367,
+            "max_z_decrease": 0.008066892623901367,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035110155786883285,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008066892623901367,
+            "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": 0.021113167630673838,
+            "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": 0.008066892623901367,
+            "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": 0.008066904342509977,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11709288507699964,
+              -0.43755966424942017,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11709288507699964,
+              -0.43755966424942017,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11777915524494473,
+              -0.4382140548686988,
+              0.8038389828482438
+            ],
+            "closest_button": [
+              0.1170885637402534,
+              -0.4375466108322144,
+              0.7687419652938843
+            ],
+            "closest_ee_minus_button": [
+              0.0006905915046913208,
+              -0.0006674440364843881,
+              0.035097017554359566
+            ],
+            "button_min_z_position": [
+              0.1170885637402534,
+              -0.4375466108322144,
+              0.7687419652938843
+            ],
+            "min_active_finger_to_button": 0.1451044328698802,
+            "closest_active_finger": [
+              -0.023009106516838074,
+              -0.4222075641155243,
+              0.810798704624176
+            ],
+            "closest_active_finger_button": [
+              0.11709463596343991,
+              -0.43755632638931274,
+              0.7762928605079651
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.140103742480278,
+              0.015348762273788452,
+              0.03450584411621094
+            ],
+            "min_contact_pad_to_button": 0.021113167630673838,
+            "closest_contact_pad": [
+              0.1170885637402534,
+              -0.43939120174569496,
+              0.7897744005252796
+            ],
+            "closest_contact_pad_button": [
+              0.1170885637402534,
+              -0.4375466108322144,
+              0.7687419652938843
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018445909134805483,
+              0.021032435231395308
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fcd89fd9259dfdf174dcbe7708f6524fc97819cf7b21b845b970a1c16057898f",
+    "visual_seed": 8725001455399999058,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebf233cb175918089f0505b8d15c96b5839b79c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16092882880674758,
+              0.2616733728711172,
+              1.043551905568034
+            ],
+            "current_z": 1.043551905568034,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18696539815946844,
+            "gripper_z": 1.0491143328225232,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15673395247258076,
+              0.2572803635634786,
+              1.0491143328225232
+            ],
+            "object_minus_gripper": [
+              0.004194876334166819,
+              0.0043930093076385845,
+              -0.005562427254489188
+            ],
+            "object_to_gripper_xy": 0.006074168110610052,
+            "object_to_gripper_z": -0.005562427254489188,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16092882880674758,
+              0.23777599770937866,
+              1.043551905568034
+            ],
+            "finger_b": [
+              0.1498595068050888,
+              0.2616733728711172,
+              1.043551905568034
+            ],
+            "finger_midpoint": [
+              0.1553941678059182,
+              0.24972468529024794,
+              1.043551905568034
+            ],
+            "object_minus_finger_midpoint": [
+              0.005534661000829388,
+              0.011948687580869255,
+              0.0
+            ],
+            "finger_gap": 0.02633656069416212,
+            "fingertip_max_gap": 0.0937477260759943,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013168280347081047,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.043551905568034,
+            "object_top_z": 1.0902476350761294,
+            "finger_top_clearance": 0.04669572950809542,
+            "fingertip_min_top_clearance": 0.014008718852428626,
+            "object_projection_between_fingers": 0.8233458180531076,
+            "object_to_finger_line_xy": 0.010044126252155746,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04937386303799715,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3385480774753251,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
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+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9278c54fa6e34ad4a57e29d007b264b3700c2d8de7a108b0f6dfffebbd0ed556",
+    "visual_seed": 8527250533052665800,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3504213630932996537,
+      7867242958540830227,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..56ef1f5f24ee2e4ce0d79372b58a206f6af86a1d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_56_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              1.0451002445241826
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+              0.004305232063647468,
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+              0.23267399139059938,
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+              0.2447306936019783,
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+              1.0
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+            "stable_success_frames": 209,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.26250602566064396,
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+            "held_shake_count": 5,
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+              0.25023133561970723,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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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": [],
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+        "post_done_wait_frames": 0,
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15530860327050539,
+            "release_required_pad_clearance": 0.052700422769393226,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.45456340355038066,
+            "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
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008064746856689453,
+            "max_z_decrease": 0.008064746856689453,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035132224336572065,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008064746856689453,
+            "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": 0.021034289648916293,
+            "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": 0.008064746856689453,
+            "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": 0.008064757580909538,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12038696557283401,
+              -0.443886935710907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12038696557283401,
+              -0.443886935710907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12147407304969182,
+              -0.4426306176749528,
+              0.808243452908853
+            ],
+            "closest_button": [
+              0.12039000540971757,
+              -0.4438804090023041,
+              0.7731502056121826
+            ],
+            "closest_ee_minus_button": [
+              0.0010840676399742483,
+              0.0012497913273512573,
+              0.035093247296670405
+            ],
+            "button_min_z_position": [
+              0.12038202583789827,
+              -0.4438747465610504,
+              0.7687441110610962
+            ],
+            "min_active_finger_to_button": 0.14475287205119827,
+            "closest_active_finger": [
+              -0.005413442850112915,
+              -0.5066670775413513,
+              0.8109711408615112
+            ],
+            "closest_active_finger_button": [
+              0.12038885802030565,
+              -0.4438842236995697,
+              0.776540219783783
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12580230087041855,
+              -0.06278285384178162,
+              0.03443092107772827
+            ],
+            "min_contact_pad_to_button": 0.021034289648916293,
+            "closest_contact_pad": [
+              0.12038202583789827,
+              -0.4438747465610504,
+              0.7897784007100125
+            ],
+            "closest_contact_pad_button": [
+              0.12038202583789827,
+              -0.4438747465610504,
+              0.7687441110610962
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021034289648916293
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce030b91b245f9de808b6bf42822cc68954bbacdb7e641eea34ca107701954fb",
+    "visual_seed": 6113710161737311224,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa1fb267849d2595566f73ffacae7f40b89172f1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16324077117155222,
+              0.2576378154360755,
+              1.045789734752376
+            ],
+            "current_z": 1.045789734752376,
+            "required_z": 0.8565866266178551,
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+            "lift_margin": 0.1892031081345208,
+            "gripper_z": 1.0517307942561935,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1587058808482566,
+              0.253211404315951,
+              1.0517307942561935
+            ],
+            "object_minus_gripper": [
+              0.004534890323295626,
+              0.004426411120124485,
+              -0.005941059503817625
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+            "object_to_gripper_xy": 0.006337061278596097,
+            "object_to_gripper_z": -0.005941059503817625,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16324077117155222,
+              0.23319655264740016,
+              1.045789734752376
+            ],
+            "finger_b": [
+              0.15259363262134198,
+              0.2576378154360755,
+              1.045789734752376
+            ],
+            "finger_midpoint": [
+              0.1579172018964471,
+              0.24541718404173785,
+              1.045789734752376
+            ],
+            "object_minus_finger_midpoint": [
+              0.005323569275105133,
+              0.012220631394337655,
+              0.0
+            ],
+            "finger_gap": 0.026659649022679553,
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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": 0.840501370425024,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04973128632403685,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.226476425538469,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16170214766866878,
+              0.2596746996067133,
+              1.2414512067743915
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+              0.26393079142666753,
+              1.2354119419445264
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008683591781566219,
+            "max_held_gripper_dist": 0.008689562129578087,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006039264829865054,
+            "max_held_gripper_z_dist": 0.006067840443478412,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0863563492936188,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.23930501664215764,
+              1.2354119419445264
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+              0.26393079142666753,
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+              0.2516179040344126,
+              1.2354119419445264
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+            "held_grasp_object_position": [
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+              0.26393079142666753,
+              1.2354119419445264
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+            "held_grasp_finger_gap": 0.026581261864490512,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02475147695962938,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.013497860422329786,
+              -0.9996196137697435,
+              0.024050686702218105
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005177537352126043,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032959555966753,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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"
+              ],
+              "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2667180488770356,
+              -0.3809242216351243,
+              0.8470195676130097
+            ],
+            "target_position": [
+              0.2610553455605315,
+              -0.38272149076006984,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00594107609429714,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1863942853321109,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195676130097,
+            "min_z": 0.5730800627579278,
+            "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": 0.07515964401686272,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08669563234519302,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15566239838540383,
+            "release_required_pad_clearance": 0.05334781617259651,
+            "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": 1.7118457498644915,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007925629615783691,
+            "max_z_decrease": 0.007925629615783691,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514317518320773,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007925629615783691,
+            "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": 0.021070307023033807,
+            "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": 0.007925629615783691,
+            "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": 0.007925651808731123,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11675526946783062,
+              -0.4389829635620117,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11675526946783062,
+              -0.4389829635620117,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11755855948190053,
+              -0.4374678616974961,
+              0.807804950079696
+            ],
+            "closest_button": [
+              0.11674530059099193,
+              -0.43897780776023865,
+              0.7727036476135254
+            ],
+            "closest_ee_minus_button": [
+              0.0008132588909085942,
+              0.0015099460627425731,
+              0.0351013024661706
+            ],
+            "button_min_z_position": [
+              0.11673682928085323,
+              -0.43897953629493713,
+              0.768883228302002
+            ],
+            "min_active_finger_to_button": 0.14485684054492115,
+            "closest_active_finger": [
+              -0.010650046169757843,
+              -0.4987260699272156,
+              0.8108004927635193
+            ],
+            "closest_active_finger_button": [
+              0.11675604432821271,
+              -0.43898072838783264,
+              0.7764248251914978
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12740609049797055,
+              -0.059745341539382935,
+              0.034375667572021484
+            ],
+            "min_contact_pad_to_button": 0.021070307023033807,
+            "closest_contact_pad": [
+              0.11673682928085323,
+              -0.43897953629493713,
+              0.7899535353250358
+            ],
+            "closest_contact_pad_button": [
+              0.11673682928085323,
+              -0.43897953629493713,
+              0.768883228302002
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021070307023033807
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "421ea6e810257d65d038475557e4f45034b3792f28b1de96f3a6bd96d0ac163f",
+    "visual_seed": 5854169986938470795,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1037b684051962bf066b54d6c816ab2aa1c10a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16376263995125953,
+              0.261189325928914,
+              1.0438273275840633
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+            "current_z": 1.0438273275840633,
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+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.18724099898943203,
+            "gripper_z": 1.0495557509088251,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15958289985919918,
+              0.25679645825053865,
+              1.0495557509088251
+            ],
+            "object_minus_gripper": [
+              0.004179740092060347,
+              0.004392867678375323,
+              -0.0057284233247618666
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+            "object_to_gripper_xy": 0.0060636221581568915,
+            "object_to_gripper_z": -0.0057284233247618666,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16376263995125953,
+              0.23731693218655436,
+              1.0438273275840633
+            ],
+            "finger_b": [
+              0.15267022486783066,
+              0.261189325928914,
+              1.0438273275840633
+            ],
+            "finger_midpoint": [
+              0.15821643240954508,
+              0.24925312905773417,
+              1.0438273275840633
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055462075417144485,
+              0.011936196871179805,
+              0.0
+            ],
+            "finger_gap": 0.026323617824556916,
+            "fingertip_max_gap": 0.09369820241835583,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013161808912278463,
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+              0.11992955207824706,
+              -0.44251312500406303,
+              0.7895421120681583
+            ],
+            "closest_contact_pad_button": [
+              0.11992955207824706,
+              -0.4422635734081269,
+              0.7686052918434143
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002495515959361483,
+              0.02093682022474397
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "faf0be69d875f27585f1aba57e9197957f6638dfadcc90c54e0eb114e3c6ddc5",
+    "visual_seed": 8975515046118319035,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9c66ebd3e42a279960805cbc9193707cbc23f4a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "object_position": [
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+              0.259185352457847,
+              1.0444683091433775
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+            "gripper_z": 1.0501709928847096,
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+            "gripper_position": [
+              0.16034987795013622,
+              0.2547007392489199,
+              1.0501709928847096
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+              0.004534158683246026,
+              0.004484613208927124,
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+            "object_to_gripper_z": -0.005702683741332093,
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+              0.23490344882279854,
+              1.0444683091433775
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+              0.2470444006403228,
+              1.0444683091433775
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_gripper_z_dist": 0.005805004556869164,
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+            "held_object_xy_range": 0.08619868284304166,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.24008441032117195,
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+              0.2524493854075157,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
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+              0.2609989789569101,
+              -0.3821769058743512,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005181084862975715,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18426045794804466,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195420936942,
+            "min_z": 0.5730800627579278,
+            "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": 0.07590500469741808,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749691631375973,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15182960485407795,
+            "release_required_pad_clearance": 0.05374845815687987,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.506090757135424,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008081376552581787,
+            "max_z_decrease": 0.008081376552581787,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508716143365277,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008081376552581787,
+            "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": 0.021024760749985015,
+            "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": 0.008081376552581787,
+            "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": 0.008081391047853225,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11669890582561494,
+              -0.43843835592269903,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11669890582561494,
+              -0.43843835592269903,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1167379223308479,
+              -0.4376832658248269,
+              0.803806819414452
+            ],
+            "closest_button": [
+              0.11670152842998507,
+              -0.43842327594757086,
+              0.7687274813652039
+            ],
+            "closest_ee_minus_button": [
+              3.639390086282446e-05,
+              0.0007400101227439393,
+              0.03507933804924812
+            ],
+            "button_min_z_position": [
+              0.11670152842998507,
+              -0.43842327594757086,
+              0.7687274813652039
+            ],
+            "min_active_finger_to_button": 0.14557414030892635,
+            "closest_active_finger": [
+              -0.00991455465555191,
+              -0.5014708638191223,
+              0.8107017874717712
+            ],
+            "closest_active_finger_button": [
+              0.11670032143592836,
+              -0.4384352564811707,
+              0.7762486934661865
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12661487609148026,
+              -0.0630356073379516,
+              0.03445309400558472
+            ],
+            "min_contact_pad_to_button": 0.021024760749985015,
+            "closest_contact_pad": [
+              0.11670152842998507,
+              -0.4387923619682134,
+              0.7897490022450897
+            ],
+            "closest_contact_pad_button": [
+              0.11670152842998507,
+              -0.43842327594757086,
+              0.7687274813652039
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003690860206425617,
+              0.021021520879885847
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c0db297da7d2ce98ab391c2d286f3a5659af67d4c689d529e4ed57cf4834adc",
+    "visual_seed": 5569413484673067761,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..79aac45c2875bba2b02560d217f0890aecfdb2e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16944762569371413,
+              0.26283463650971195,
+              1.0446059312098344
+            ],
+            "current_z": 1.0446059312098344,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.18801930459197924,
+            "gripper_z": 1.050024587050859,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16444855101426586,
+              0.25804077511645457,
+              1.050024587050859
+            ],
+            "object_minus_gripper": [
+              0.004999074679448268,
+              0.0047938613932573815,
+              -0.005418655841024744
+            ],
+            "object_to_gripper_xy": 0.006926171720977209,
+            "object_to_gripper_z": -0.005418655841024744,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16944762569371413,
+              0.23830563497858104,
+              1.0446059312098344
+            ],
+            "finger_b": [
+              0.15789859753722074,
+              0.26283463650971195,
+              1.0446059312098344
+            ],
+            "finger_midpoint": [
+              0.16367311161546744,
+              0.2505701357441465,
+              1.0446059312098344
+            ],
+            "object_minus_finger_midpoint": [
+              0.005774514078246695,
+              0.012264500765565456,
+              0.0
+            ],
+            "finger_gap": 0.027111841831083696,
+            "fingertip_max_gap": 0.0942521384764477,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013555920915541848,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0446059312098344,
+            "object_top_z": 1.0909239143485052,
+            "finger_top_clearance": 0.04631798313867086,
+            "fingertip_min_top_clearance": 0.013895394941601242,
+            "object_projection_between_fingers": 0.8185433720857982,
+            "object_to_finger_line_xy": 0.010448796916811205,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04962606923822385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1681182730366664,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "abcb13e7a020ec1c263f58458a3b32755e1f4a9505f44e0b4b7c0ee7f481a924",
+    "visual_seed": 3175234836991077117,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      7867242958540830227,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc4fa8bbeea274386a2d8bd9b556023ed6bbb647
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.26116206927953217,
+              1.045689976611649
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+              1.05147697447035
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+            "object_to_gripper_z": -0.005786997858701071,
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+              0.23672797818649716,
+              1.045689976611649
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+              1.045689976611649
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+              0.24894502373301466,
+              1.045689976611649
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+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.2628834958468905,
+              1.2403874326142579
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+              1.2344987065670627
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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,
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_required_pad_clearance": 0.05358776571897951,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.1847056068939357,
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+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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",
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+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008030116558074951,
+            "max_z_decrease": 0.008030116558074951,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514141578639126,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008030116558074951,
+            "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": 0.021065199437845652,
+            "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": 0.008030116558074951,
+            "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": 0.008030138087944425,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12323401123285292,
+              -0.43458765745162964,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12323401123285292,
+              -0.43458765745162964,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1246132919417447,
+              -0.43376157809733273,
+              0.8078915501516511
+            ],
+            "closest_button": [
+              0.12322394549846649,
+              -0.4345827698707581,
+              0.7727872133255005
+            ],
+            "closest_ee_minus_button": [
+              0.0013893464432782054,
+              0.0008211917734253782,
+              0.03510433682615066
+            ],
+            "button_min_z_position": [
+              0.12321578711271285,
+              -0.43458396196365356,
+              0.7687787413597107
+            ],
+            "min_active_finger_to_button": 0.14463234527451505,
+            "closest_active_finger": [
+              -0.0029283910989761353,
+              -0.49640461802482605,
+              0.8107060790061951
+            ],
+            "closest_active_finger_button": [
+              0.12323398888111115,
+              -0.43458589911460876,
+              0.7763547301292419
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12616237998008728,
+              -0.061818718910217285,
+              0.034351348876953125
+            ],
+            "min_contact_pad_to_button": 0.021065199437845652,
+            "closest_contact_pad": [
+              0.12321578711271285,
+              -0.43485491503899665,
+              0.7898421981459833
+            ],
+            "closest_contact_pad_button": [
+              0.12321578711271285,
+              -0.43458396196365356,
+              0.7687787413597107
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00027095307534308333,
+              0.02106345678627264
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "53ca5b95e049a98fae4bae6326ab50655b9fcbb5c33ab5ea942854c283442821",
+    "visual_seed": 8519267733984569542,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f6234c67eb4a96b9108fbc8a6bd3a83a5f43e6c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_61_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.1646210176217623,
+              0.2614034733346685,
+              1.0436922911405173
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+            "current_z": 1.0436922911405173,
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+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.18710560491801742,
+            "gripper_z": 1.0493115474203656,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16010073419901233,
+              0.2568667249129969,
+              1.0493115474203656
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+              0.00452028342274996,
+              0.004536748421671621,
+              -0.005619256279848273
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+            "object_to_gripper_xy": 0.006404299217207769,
+            "object_to_gripper_z": -0.005619256279848273,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1646210176217623,
+              0.2372404830812504,
+              1.0436922911405173
+            ],
+            "finger_b": [
+              0.15338946528675693,
+              0.2614034733346685,
+              1.0436922911405173
+            ],
+            "finger_midpoint": [
+              0.1590052414542596,
+              0.24932197820795945,
+              1.0436922911405173
+            ],
+            "object_minus_finger_midpoint": [
+              0.005615776167502695,
+              0.012081495126709058,
+              0.0
+            ],
+            "finger_gap": 0.026645785142133515,
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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": 1.0897441781924004,
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+            "object_to_finger_line_xy": 0.010185021314022368,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884289146967864,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1948802302075234,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16351195102119812,
+              0.2625273667858139,
+              1.2366863674409363
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+            "held_position": [
+              0.1681861397468725,
+              0.26675943887503506,
+              1.2309573465102215
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008519398760250317,
+            "max_held_gripper_dist": 0.008523339421675682,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005729020930714812,
+            "max_held_gripper_z_dist": 0.0057587152317875034,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08648541817938787,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.2419959807123704,
+              1.2309573465102215
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+              0.26675943887503506,
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+              0.2543777097937027,
+              1.2309573465102215
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+            "held_grasp_object_position": [
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+              0.26675943887503506,
+              1.2309573465102215
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+            "held_grasp_finger_gap": 0.026630218265593877,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024431155093147812,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03206793336370574,
+              -0.9992649844852832,
+              0.021003295727282323
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004505471464377746,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03267054587566763,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.262794763028249,
+              -0.38618673476312493,
+              0.8470190257907653
+            ],
+            "target_position": [
+              0.25764811760386974,
+              -0.38734557502683115,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005275497121700538,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829960845473471,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190257907653,
+            "min_z": 0.5730800627579278,
+            "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": 0.07563908219241339,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08627726141366306,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15110897263568654,
+            "release_required_pad_clearance": 0.05313863070683153,
+            "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": 1.299028148401497,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008115053176879883,
+            "max_z_decrease": 0.008115053176879883,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035062323327351326,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008115053176879883,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021034911377543077,
+            "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": 0.008115053176879883,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008115090116461304,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1133480444550514,
+              -0.44360703229904164,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1133480444550514,
+              -0.44360703229904164,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11450831488643537,
+              -0.4438647075770582,
+              0.8037362510977073
+            ],
+            "closest_button": [
+              0.11336115002632138,
+              -0.44358634948730463,
+              0.7686938047409058
+            ],
+            "closest_ee_minus_button": [
+              0.001147164860113986,
+              -0.000278358089753572,
+              0.03504244635680154
+            ],
+            "button_min_z_position": [
+              0.11336115002632138,
+              -0.44358634948730463,
+              0.7686938047409058
+            ],
+            "min_active_finger_to_button": 0.14467184310709788,
+            "closest_active_finger": [
+              -0.02602735161781311,
+              -0.4258551001548767,
+              0.8112995624542236
+            ],
+            "closest_active_finger_button": [
+              0.11334709078073499,
+              -0.4436061084270477,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1393744423985481,
+              0.017751008272170965,
+              0.03449070453643799
+            ],
+            "min_contact_pad_to_button": 0.021034911377543077,
+            "closest_contact_pad": [
+              0.11336115002632138,
+              -0.4452211122869644,
+              0.7896650957657793
+            ],
+            "closest_contact_pad_button": [
+              0.11336115002632138,
+              -0.44358634948730463,
+              0.7686938047409058
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016347627996597947,
+              0.020971291024873495
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bae7923afaf02b4ee49af0661813b9c7a4a9a930b52f5ebaf0cdf05a88cc437a",
+    "visual_seed": 1083714075330581227,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..15e4058242150145798668c43d66781a12fb1cde
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.25797925600544885,
+              1.0452713465219334
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+            "current_z": 1.0452713465219334,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1886847795087231,
+            "gripper_z": 1.0507127120062358,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16252724729155874,
+              0.25353077684880937,
+              1.0507127120062358
+            ],
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+              0.004409306507072497,
+              0.004448479156639484,
+              -0.005441365484302407
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+            "object_to_gripper_xy": 0.006263461557347327,
+            "object_to_gripper_z": -0.005441365484302407,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16693655379863123,
+              0.23383333418442553,
+              1.0452713465219334
+            ],
+            "finger_b": [
+              0.15590878829146643,
+              0.25797925600544885,
+              1.0452713465219334
+            ],
+            "finger_midpoint": [
+              0.16142267104504882,
+              0.2459062950949372,
+              1.0452713465219334
+            ],
+            "object_minus_finger_midpoint": [
+              0.005513882753582416,
+              0.01207296091051166,
+              0.0
+            ],
+            "finger_gap": 0.026545002404746245,
+            "fingertip_max_gap": 0.09306052814854868,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013272501202373128,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0452713465219334,
+            "object_top_z": 1.0914766596066048,
+            "finger_top_clearance": 0.04620531308467135,
+            "fingertip_min_top_clearance": 0.013861593925401388,
+            "object_projection_between_fingers": 0.8274124325966166,
+            "object_to_finger_line_xy": 0.010031099629848555,
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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": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5da4fe1c830a15a30e11cb2bf582bcb3872bee1d66d1b989c01da8ea9a6fb9e4",
+    "visual_seed": 5048253615334337816,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08be33a3c62616df55487b527eef488acf90f1c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.25798349896498285,
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+              1.0492109272285723
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+              0.004636502394593012,
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+              0.23393817124483401,
+              1.0436723705398254
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+              0.24596083510490843,
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.005667541463232784,
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+            "held_object_xy_range": 0.08619958128178862,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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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+            "object_z": 0.8470195463988803,
+            "min_z": 0.5730800627579278,
+            "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": 0.07588326224696901,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618839974980745,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528154582334989,
+            "release_required_pad_clearance": 0.05309419987490373,
+            "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": 1.2162577486650223,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007846653461456299,
+            "max_z_decrease": 0.007846653461456299,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035145289333906496,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007846653461456299,
+            "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": 0.0210848367809372,
+            "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": 0.007846653461456299,
+            "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": 0.00784668104567985,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11532865464687345,
+              -0.43419870734214777,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11532865464687345,
+              -0.43419870734214777,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11650894800337763,
+              -0.43251556531486157,
+              0.8076068856469605
+            ],
+            "closest_button": [
+              0.1153183430433273,
+              -0.4341931641101837,
+              0.7725218534469604
+            ],
+            "closest_ee_minus_button": [
+              0.0011906049600503288,
+              0.0016775987953221438,
+              0.03508503220000003
+            ],
+            "button_min_z_position": [
+              0.11530838161706923,
+              -0.43419402837753296,
+              0.7689622044563293
+            ],
+            "min_active_finger_to_button": 0.14445302764121756,
+            "closest_active_finger": [
+              -0.010118454694747925,
+              -0.49696704745292664,
+              0.8109448552131653
+            ],
+            "closest_active_finger_button": [
+              0.11533090472221373,
+              -0.4341956675052642,
+              0.776464581489563
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12544935941696167,
+              -0.06277137994766241,
+              0.034480273723602295
+            ],
+            "min_contact_pad_to_button": 0.0210848367809372,
+            "closest_contact_pad": [
+              0.11530838161706923,
+              -0.43419402837753296,
+              0.7900470412372665
+            ],
+            "closest_contact_pad_button": [
+              0.11530838161706923,
+              -0.43419402837753296,
+              0.7689622044563293
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0210848367809372
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "94395a2f9a2d53773d2f663a6390b5dd074e6081b078dc66e04460674171bcb2",
+    "visual_seed": 8005432866805799329,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca89289961d95f05584b6c10ad09214cd43b3cc2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.1604502725153252,
+              0.26021154697227206,
+              1.0438824351915186
+            ],
+            "current_z": 1.0438824351915186,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.18729574896901868,
+            "gripper_z": 1.0496364297798768,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15625978409118518,
+              0.2557969513925932,
+              1.0496364297798768
+            ],
+            "object_minus_gripper": [
+              0.004190488424140021,
+              0.004414595579678882,
+              -0.0057539945883582355
+            ],
+            "object_to_gripper_xy": 0.006086776434613961,
+            "object_to_gripper_z": -0.0057539945883582355,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1604502725153252,
+              0.2364016280981192,
+              1.0438824351915186
+            ],
+            "finger_b": [
+              0.14926125088711784,
+              0.26021154697227206,
+              1.0438824351915186
+            ],
+            "finger_midpoint": [
+              0.1548557617012215,
+              0.24830658753519563,
+              1.0438824351915186
+            ],
+            "object_minus_finger_midpoint": [
+              0.005594510814103698,
+              0.011904959437076423,
+              0.0
+            ],
+            "finger_gap": 0.02630791595300229,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01315395797650115,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0438824351915186,
+            "object_top_z": 1.0893160903414736,
+            "finger_top_clearance": 0.04543365514995501,
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+            "object_projection_between_fingers": 0.8191113426532202,
+            "object_to_finger_line_xy": 0.010126598310739853,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04823887028444125,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0814530259418782,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
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+    "visual_seed": 3984145192352548853,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d330d8d378edb0b1378e0f0d0b34fae78e05e32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              1.0442480861695544
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+              0.24050036249139323,
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+              0.2528605413317608,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+              "source_missing": false,
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+                },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              0.2708728792423685,
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+              0.2708728792423685,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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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": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.4520928309843733,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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",
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+                "base_link",
+                "caster",
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+                "floor",
+                "ground",
+                "groundplane",
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+              ],
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+        },
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+        "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": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008096396923065186,
+            "max_z_decrease": 0.008096396923065186,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511037762666226,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008096396923065186,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021101271991685166,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008096396923065186,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008096426225319878,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11707334220409393,
+              -0.43888914585113525,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11707334220409393,
+              -0.43888914585113525,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11472137627313603,
+              -0.44042747131533544,
+              0.8037087469848669
+            ],
+            "closest_button": [
+              0.11708132922649384,
+              -0.4388688802719116,
+              0.7687124609947205
+            ],
+            "closest_ee_minus_button": [
+              -0.002359952953357808,
+              -0.0015585910434238182,
+              0.03499628599014648
+            ],
+            "button_min_z_position": [
+              0.11708132922649384,
+              -0.4388688802719116,
+              0.7687124609947205
+            ],
+            "min_active_finger_to_button": 0.14800555881749614,
+            "closest_active_finger": [
+              -0.026309631764888763,
+              -0.4265349507331848,
+              0.8108180165290833
+            ],
+            "closest_active_finger_button": [
+              0.11707454919815063,
+              -0.438886821269989,
+              0.7762629389762878
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1433841809630394,
+              0.0123518705368042,
+              0.03455507755279541
+            ],
+            "min_contact_pad_to_button": 0.021101271991685166,
+            "closest_contact_pad": [
+              0.11708132922649384,
+              -0.4414178756018355,
+              0.7896592102049226
+            ],
+            "closest_contact_pad_button": [
+              0.11708132922649384,
+              -0.4388688802719116,
+              0.7687124609947205
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025489953299238644,
+              0.02094674921020212
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c38797804a19dfb2bbaab17af3b03d6fda6fdc6bd492d63594ae4a9e16ed357",
+    "visual_seed": 384722024604551355,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4267ebd1dafefaab9989a2c2f31795db1fe7a471
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16579669323582574,
+              0.2600341871412294,
+              1.0425424141151898
+            ],
+            "current_z": 1.0425424141151898,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.18595584710197932,
+            "gripper_z": 1.048112956722997,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16125014029856427,
+              0.25548768329667115,
+              1.048112956722997
+            ],
+            "object_minus_gripper": [
+              0.004546552937261472,
+              0.004546503844558236,
+              -0.005570542607807205
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+            "object_to_gripper_xy": 0.0064297621122327495,
+            "object_to_gripper_z": -0.005570542607807205,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.16579669323582574,
+              0.23584594426749877,
+              1.0425424141151898
+            ],
+            "finger_b": [
+              0.15456463055580766,
+              0.2600341871412294,
+              1.0425424141151898
+            ],
+            "finger_midpoint": [
+              0.1601806618958167,
+              0.24794006570436408,
+              1.0425424141151898
+            ],
+            "object_minus_finger_midpoint": [
+              0.005616031340009042,
+              0.012094121436865307,
+              0.0
+            ],
+            "finger_gap": 0.026668901840278966,
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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_top_z": 1.0884957664146504,
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+            "object_projection_between_fingers": 0.8226183170931917,
+            "object_to_finger_line_xy": 0.010187290864257077,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048627426959294104,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9556981808465678,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1645679284523018,
+              0.261277808926002,
+              1.2363778473782387
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+            "held_position": [
+              0.16926732015809764,
+              0.26553216899439147,
+              1.2307057876175085
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00850624029317918,
+            "max_held_gripper_dist": 0.008511042164666338,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005672059760730264,
+            "max_held_gripper_z_dist": 0.005701154458071178,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860940238775188,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.24077579859503792,
+              1.2307057876175085
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+              0.2531539837947147,
+              1.2307057876175085
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+            "held_grasp_object_position": [
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+              0.26553216899439147,
+              1.2307057876175085
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+            "held_grasp_finger_gap": 0.026659749173649144,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024402815938723413,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03382067604995009,
+              -0.9992333833370757,
+              0.019718202156009612
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004531519289323541,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032664241181880604,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26754177487405445,
+              -0.38333191787051835,
+              0.8470193675746137
+            ],
+            "target_position": [
+              0.26191572682727676,
+              -0.3848052959612617,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005815776785858745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18596998124685307,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193675746137,
+            "min_z": 0.5730800627579278,
+            "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": 0.0757485939981545,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616332608589615,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537203411085309,
+            "release_required_pad_clearance": 0.05308166304294808,
+            "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": 1.1902377579126904,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008204162120819092,
+            "max_z_decrease": 0.008204162120819092,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499236721963456,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008204162120819092,
+            "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": 0.021004481992119843,
+            "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": 0.008204162120819092,
+            "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": 0.008204228471389163,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11761565506458282,
+              -0.4410667419433594,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11761565506458282,
+              -0.4410667419433594,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11723644510661171,
+              -0.44169574364002356,
+              0.8036583459849352
+            ],
+            "closest_button": [
+              0.11763719469308855,
+              -0.4410456120967865,
+              0.7686743140220642
+            ],
+            "closest_ee_minus_button": [
+              -0.00040074958647683123,
+              -0.0006501315432370647,
+              0.03498403196287103
+            ],
+            "button_min_z_position": [
+              0.11763956397771835,
+              -0.44104400277137756,
+              0.7686046957969666
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+            "min_active_finger_to_button": 0.1462059105448625,
+            "closest_active_finger": [
+              -0.023847557604312897,
+              -0.4280879497528076,
+              0.8106447458267212
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+            "closest_active_finger_button": [
+              0.11761832237243654,
+              -0.4410632252693176,
+              0.7760728597640991
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14146587997674942,
+              0.01297527551651001,
+              0.03457188606262207
+            ],
+            "min_contact_pad_to_button": 0.021004481992119843,
+            "closest_contact_pad": [
+              0.11763956397771835,
+              -0.4426647819520785,
+              0.7895465519373542
+            ],
+            "closest_contact_pad_button": [
+              0.11763956397771835,
+              -0.44104400277137756,
+              0.7686046957969666
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016207791807009153,
+              0.020941856140387682
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46069ccab7c57996998b08e063da57dd230cddad2afe6c72fab25fc10f17fdd2",
+    "visual_seed": 4268720594439966877,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d90c14308c159ebaf590a123cf63a661f9df19c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.25344007797237356,
+              1.0430859251510787
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+            "lift_margin": 0.1864994177425131,
+            "gripper_z": 1.0487626785214965,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15587678166889193,
+              0.24940343443873114,
+              1.0487626785214965
+            ],
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+              0.0038310835695461176,
+              0.0040366435336424145,
+              -0.005676753370417842
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+            "object_to_gripper_xy": 0.005565221678832151,
+            "object_to_gripper_z": -0.005676753370417842,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.15970786523843805,
+              0.22937468350972695,
+              1.0430859251510787
+            ],
+            "finger_b": [
+              0.1498281427313211,
+              0.25344007797237356,
+              1.0430859251510787
+            ],
+            "finger_midpoint": [
+              0.15476800398487958,
+              0.24140738074105025,
+              1.0430859251510787
+            ],
+            "object_minus_finger_midpoint": [
+              0.00493986125355847,
+              0.012032697231323303,
+              0.0
+            ],
+            "finger_gap": 0.02601445996864849,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013007229984324246,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0430859251510787,
+            "object_top_z": 1.088365748599118,
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+            "fingertip_min_top_clearance": 0.013583947034411814,
+            "object_projection_between_fingers": 0.855768585192453,
+            "object_to_finger_line_xy": 0.009139510087920117,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828586658600348,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4389293372728198,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88cddc8e8ec6763aa735c8e41eb8fd99b7481731d74e230eb4d945d442f7e64b",
+    "visual_seed": 5006333924158730272,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5fe734f724bcd4ec0b6c8ecc7f22e19961e7052
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.26405673107772354,
+              1.0444885908779573
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+              0.25944475370915326,
+              1.0499635513948267
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+              0.004611977368570275,
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+            "object_to_gripper_z": -0.005474960516869354,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23955697538744086,
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+              1.0444885908779573
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+              0.25180685323258223,
+              1.0444885908779573
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+              0.01224987784514131,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.26527966635241146,
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+              0.26965010851491755,
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.005562849415813087,
+            "max_held_gripper_z_dist": 0.005597187032574613,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08574549128917563,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.24477680291991413,
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+              0.25721345571741583,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.005044143503288595,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574249103413473,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08799882363852389,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15440201153108196,
+            "release_required_pad_clearance": 0.05399941181926195,
+            "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": 3.009864211380588,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008068561553955078,
+            "max_z_decrease": 0.008068561553955078,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513183592614575,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008068561553955078,
+            "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": 0.02107823312565676,
+            "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": 0.008068561553955078,
+            "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": 0.008068574485990378,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12010027468204497,
+              -0.4357699155807495,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12010027468204497,
+              -0.4357699155807495,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1214801865189497,
+              -0.4360086992476673,
+              0.8038438862795136
+            ],
+            "closest_button": [
+              0.1200944110751152,
+              -0.43575671315193176,
+              0.7687402963638306
+            ],
+            "closest_ee_minus_button": [
+              0.0013857754438345027,
+              -0.00025198609573551245,
+              0.035103589915683076
+            ],
+            "button_min_z_position": [
+              0.1200944110751152,
+              -0.43575671315193176,
+              0.7687402963638306
+            ],
+            "min_active_finger_to_button": 0.1444618354810969,
+            "closest_active_finger": [
+              -0.019328996539115906,
+              -0.42028409242630005,
+              0.8107765316963196
+            ],
+            "closest_active_finger_button": [
+              0.12010113894939421,
+              -0.4357667863368988,
+              0.7762983441352844
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13943013548851013,
+              0.015482693910598755,
+              0.034478187561035156
+            ],
+            "min_contact_pad_to_button": 0.02107823312565676,
+            "closest_contact_pad": [
+              0.1200944110751152,
+              -0.4371605180596567,
+              0.7897717310148614
+            ],
+            "closest_contact_pad_button": [
+              0.1200944110751152,
+              -0.43575671315193176,
+              0.7687402963638306
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014038049077249593,
+              0.021031434651030856
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "192d92698b77203b8656a46cb45a896ffa226913df5c2a08cdf0f6304f79a661",
+    "visual_seed": 6441597912205869602,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03dba533bf7db9445c5d0f4c4967a1bedfcc6852
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.1602191524865166,
+              0.2594049689626245,
+              1.045239392498304
+            ],
+            "current_z": 1.045239392498304,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18865288508973854,
+            "gripper_z": 1.0508813727233157,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15609485820289462,
+              0.2550079202422553,
+              1.0508813727233157
+            ],
+            "object_minus_gripper": [
+              0.004124294283621988,
+              0.004397048720369168,
+              -0.005641980225011611
+            ],
+            "object_to_gripper_xy": 0.006028585305626615,
+            "object_to_gripper_z": -0.005641980225011611,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1602191524865166,
+              0.2356589643822094,
+              1.045239392498304
+            ],
+            "finger_b": [
+              0.1490103481674796,
+              0.2594049689626245,
+              1.045239392498304
+            ],
+            "finger_midpoint": [
+              0.15461475032699812,
+              0.24753196667241695,
+              1.045239392498304
+            ],
+            "object_minus_finger_midpoint": [
+              0.00560440215951849,
+              0.011873002290207546,
+              0.0
+            ],
+            "finger_gap": 0.02625852295532933,
+            "fingertip_max_gap": 0.09208767573568913,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013129261477664658,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045239392498304,
+            "object_top_z": 1.0911073143882677,
+            "finger_top_clearance": 0.04586792188996358,
+            "fingertip_min_top_clearance": 0.013760376566989073,
+            "object_projection_between_fingers": 0.8177875749477646,
+            "object_to_finger_line_xy": 0.01013630199815977,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048543837867844566,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9359221176091949,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aba25d4f72adb7688bec8673956a4cb45b9a144d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+          "failure_messages": {},
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+              "allowed_object_paths": [
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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
+            },
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
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+          "safety": {
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+              "allowed_objects": [
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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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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+        },
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.15494719057885203,
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+            "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": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
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+            },
+            "status": "active",
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+            "failed_keys": []
+          }
+        },
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+    },
+    {
+      "step_index": 3,
+      "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": 0.007983207702636719,
+            "max_z_decrease": 0.007983207702636719,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509695363030474,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007983207702636719,
+            "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": 0.021130028581441123,
+            "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": 0.007983207702636719,
+            "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": 0.007983233251722475,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1158676892518997,
+              -0.43996053934097284,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1158676892518997,
+              -0.43996053934097284,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11526346169812957,
+              -0.4405500564164191,
+              0.8077597418709292
+            ],
+            "closest_button": [
+              0.11585847288370132,
+              -0.43995419144630427,
+              0.7726728916168213
+            ],
+            "closest_ee_minus_button": [
+              -0.0005950111855717588,
+              -0.0005958649701148233,
+              0.03508685025410796
+            ],
+            "button_min_z_position": [
+              0.11584825068712233,
+              -0.4399550557136535,
+              0.7688256502151489
+            ],
+            "min_active_finger_to_button": 0.14671393635191426,
+            "closest_active_finger": [
+              -0.025693930685520172,
+              -0.4227423667907715,
+              0.8108688592910767
+            ],
+            "closest_active_finger_button": [
+              0.11586865782737732,
+              -0.4399587213993072,
+              0.7763926386833191
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1415625885128975,
+              0.01721635460853571,
+              0.03447622060775757
+            ],
+            "min_contact_pad_to_button": 0.021130028581441123,
+            "closest_contact_pad": [
+              0.11584825068712233,
+              -0.441776780263062,
+              0.7898770023693124
+            ],
+            "closest_contact_pad_button": [
+              0.11584825068712233,
+              -0.4399550557136535,
+              0.7688256502151489
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018217245494084877,
+              0.021051352154163427
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b5cbd9a734919bc98160b89872e9713959c2cb161a4b5bc26fb60dd509083dd",
+    "visual_seed": 7306768038651511663,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d0852debb7b2e52663447c9a837a8af6304530
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.1637296942240248,
+              0.25606660020882754,
+              1.0448434940607252
+            ],
+            "current_z": 1.0448434940607252,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.18825686744287007,
+            "gripper_z": 1.0503018526772283,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15952700732026479,
+              0.25181328265138747,
+              1.0503018526772283
+            ],
+            "object_minus_gripper": [
+              0.004202686903760022,
+              0.004253317557440073,
+              -0.005458358616503123
+            ],
+            "object_to_gripper_xy": 0.005979405276067511,
+            "object_to_gripper_z": -0.005458358616503123,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1637296942240248,
+              0.23189117837953171,
+              1.0448434940607252
+            ],
+            "finger_b": [
+              0.15321420360894625,
+              0.25606660020882754,
+              1.0448434940607252
+            ],
+            "finger_midpoint": [
+              0.15847194891648553,
+              0.24397888929417963,
+              1.0448434940607252
+            ],
+            "object_minus_finger_midpoint": [
+              0.00525774530753928,
+              0.012087710914647914,
+              0.0
+            ],
+            "finger_gap": 0.026363356453611868,
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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": 1.0448434940607252,
+            "object_top_z": 1.0911565148881543,
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+            "fingertip_min_top_clearance": 0.013893906248228765,
+            "object_projection_between_fingers": 0.8409045802236109,
+            "object_to_finger_line_xy": 0.009642794224962864,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04906571804317121,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3070664354482193,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16295051711652445,
+              0.2575627009818234,
+              1.2376719961737315
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+            "held_position": [
+              0.16722919947202788,
+              0.2615906405363743,
+              1.2321048458391306
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008094725603901533,
+            "max_held_gripper_dist": 0.008098055597991085,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005567150334600868,
+            "max_held_gripper_z_dist": 0.0055926782654383,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08617703451273445,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16722919947202788,
+              0.23703900361340025,
+              1.2321048458391306
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+              0.2615906405363743,
+              1.2321048458391306
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+              0.1625329838674116,
+              0.24931482207488728,
+              1.2321048458391306
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+            "held_grasp_object_position": [
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+              0.2615906405363743,
+              1.2321048458391306
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+            "held_grasp_finger_gap": 0.02628689102228921,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024377649072125498,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.017320596192184554,
+              -0.9995395279489487,
+              0.024914433871558117
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004493376641125976,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03284871792151004,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26864717592195025,
+              -0.3824252193265598,
+              0.8470193139353096
+            ],
+            "target_position": [
+              0.26366784168048085,
+              -0.3834367257274542,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005081034804773526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18613152430797966,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193139353096,
+            "min_z": 0.5730800627579278,
+            "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": 0.07567399093227317,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870518084834485,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1540171761530797,
+            "release_required_pad_clearance": 0.05352590424172425,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.061951072287942,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00824052095413208,
+            "max_z_decrease": 0.00824052095413208,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035024239719963685,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00824052095413208,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021030761200432957,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.00824052095413208,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008240600433147262,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1193677708506584,
+              -0.43969818949699396,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1193677708506584,
+              -0.43969818949699396,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12051693802972882,
+              -0.4405546238239612,
+              0.8036318389242458
+            ],
+            "closest_button": [
+              0.11939010024070738,
+              -0.43967109918594355,
+              0.7686368823051453
+            ],
+            "closest_ee_minus_button": [
+              0.001126837789021437,
+              -0.0008835246380176631,
+              0.03499495661910057
+            ],
+            "button_min_z_position": [
+              0.11939024180173873,
+              -0.4396698176860809,
+              0.7685683369636536
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+            "min_active_finger_to_button": 0.1446530846184645,
+            "closest_active_finger": [
+              -0.020377755165100098,
+              -0.42540714144706726,
+              0.811199963092804
+            ],
+            "closest_active_finger_button": [
+              0.11937174201011656,
+              -0.4396940767765045,
+              0.7766966819763184
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13974949717521667,
+              0.014286935329437256,
+              0.034503281116485596
+            ],
+            "min_contact_pad_to_button": 0.021030761200432957,
+            "closest_contact_pad": [
+              0.11939024180173873,
+              -0.4416652584265606,
+              0.7895042184335337
+            ],
+            "closest_contact_pad_button": [
+              0.11939024180173873,
+              -0.4396698176860809,
+              0.7685683369636536
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001995440740479748,
+              0.020935881469880124
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f781f1ea84d0dc8c3128b62a5aeb7775b3b1890608be727f5e8d5ab60fa2c266",
+    "visual_seed": 4671135288298274702,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5968fb08c97d74235b80042bec1c9b8280b85d86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.2563303649801619,
+              1.0453737341359544
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+            "lift_margin": 0.1887872267273888,
+            "gripper_z": 1.050831712378037,
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+            "gripper_position": [
+              0.16175753099885362,
+              0.2518462967974324,
+              1.050831712378037
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+              0.0042935500939178806,
+              0.00448406818272945,
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+            "object_to_gripper_z": -0.005457978242082717,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.1660510810927715,
+              0.2324533890358466,
+              1.0453737341359544
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+            "finger_b": [
+              0.15472726719321425,
+              0.2563303649801619,
+              1.0453737341359544
+            ],
+            "finger_midpoint": [
+              0.16038917414299286,
+              0.24439187700800424,
+              1.0453737341359544
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+            "object_minus_finger_midpoint": [
+              0.005661906949778639,
+              0.01193848797215763,
+              0.0
+            ],
+            "finger_gap": 0.026426099626642132,
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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": 0.8163802842148495,
+            "object_to_finger_line_xy": 0.010231492195126776,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854305307302656,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9440157855381248,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e8edecc85a393b56eec4232bc40f9c9c32b58a9d272fcec1b4c2128f0a22bfd",
+    "visual_seed": 1987568602785688944,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8adbb372631ed5b717b8cfeacf016d01e13dc7f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.25777845182868364,
+              1.0424303260050753
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+            "gripper_z": 1.0478332917093691,
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+            "gripper_position": [
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+              0.2534026118743376,
+              1.0478332917093691
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+              0.004375839954346039,
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+              0.1647223216726774,
+              0.2335229818321609,
+              1.0424303260050753
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+            "finger_b": [
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+              1.0424303260050753
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+            "finger_midpoint": [
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+              0.24565071683042228,
+              1.0424303260050753
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+              0.012127734998261364,
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+            "object_to_finger_line_xy": 0.009822349225936567,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854452072723192,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2591914345610888,
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+              0.2633267433389553,
+              1.2292639302259034
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0055248142475674555,
+            "max_held_gripper_z_dist": 0.005553510502516179,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2509969162890673,
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+              0.2633267433389553,
+              1.2292639302259034
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024467611017500734,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.99964243700919,
+              0.018715152552252753
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+            "held_grasp_object_to_finger_line_xy": 0.004566461770667439,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
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+          "passed": true,
+          "metrics": {
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+            "min_z_margin": 0.2,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08695658993114512,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537609151103895,
+            "release_required_pad_clearance": 0.05347829496557256,
+            "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": 1.9687398167364931,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008091747760772705,
+            "max_z_decrease": 0.008091747760772705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505076091197243,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008091747760772705,
+            "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": 0.021043017525869373,
+            "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": 0.008091747760772705,
+            "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": 0.008091767167732484,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11810649186372756,
+              -0.43584001064300537,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11810649186372756,
+              -0.43584001064300537,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1179056119392562,
+              -0.4362407639085941,
+              0.8037647735836362
+            ],
+            "closest_button": [
+              0.11811344325542449,
+              -0.43582370877265925,
+              0.7687171101570129
+            ],
+            "closest_ee_minus_button": [
+              -0.00020783131616829154,
+              -0.000417055135934874,
+              0.03504766342662324
+            ],
+            "button_min_z_position": [
+              0.11811344325542449,
+              -0.43582370877265925,
+              0.7687171101570129
+            ],
+            "min_active_finger_to_button": 0.14603050175116752,
+            "closest_active_finger": [
+              -0.02316059172153473,
+              -0.42267847061157227,
+              0.8107998967170715
+            ],
+            "closest_active_finger_button": [
+              0.11810825020074843,
+              -0.43583706021308893,
+              0.7762329578399658
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14126884192228317,
+              0.013158589601516668,
+              0.03456693887710571
+            ],
+            "min_contact_pad_to_button": 0.021043017525869373,
+            "closest_contact_pad": [
+              0.11811344325542449,
+              -0.4372008362538713,
+              0.78971501735022
+            ],
+            "closest_contact_pad_button": [
+              0.11811344325542449,
+              -0.43582370877265925,
+              0.7687171101570129
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013771274812120482,
+              0.020997907193207044
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "699b3782fa6c24fc3547dd309eecc86150d8a9905db4eba794a4b67ed02af7a8",
+    "visual_seed": 5559032857979124913,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..154a671bb5df8eb28b8017352d3d84e49ee6f7de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_74_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16838455131763977,
+              0.26103130532603736,
+              1.0424720531831937
+            ],
+            "current_z": 1.0424720531831937,
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+            "initial_z": 0.7565867458271447,
+            "lift_margin": 0.18588530735604902,
+            "gripper_z": 1.0480945027702342,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16365324288440272,
+              0.25627891292459243,
+              1.0480945027702342
+            ],
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+              0.004731308433237047,
+              0.004752392401444927,
+              -0.005622449587040501
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+            "object_to_gripper_xy": 0.006706005743192551,
+            "object_to_gripper_z": -0.005622449587040501,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16838455131763977,
+              0.2369044272879058,
+              1.0424720531831937
+            ],
+            "finger_b": [
+              0.15659338852202523,
+              0.26103130532603736,
+              1.0424720531831937
+            ],
+            "finger_midpoint": [
+              0.1624889699198325,
+              0.2489678663069716,
+              1.0424720531831937
+            ],
+            "object_minus_finger_midpoint": [
+              0.00589558139780727,
+              0.012063439019065758,
+              0.0
+            ],
+            "finger_gap": 0.02685400834027499,
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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": 1.0424720531831937,
+            "object_top_z": 1.088432240195764,
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+            "object_projection_between_fingers": 0.8072053260487171,
+            "object_to_finger_line_xy": 0.010593723778318936,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867789717535215,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.130572018404796,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
+                  "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16723147851725192,
+              0.2616554186968726,
+              1.235642767430393
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+            "held_position": [
+              0.1721885131800344,
+              0.2660156041884611,
+              1.229897006179399
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+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "visuals",
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
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+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.272313895702772,
+              -0.38001785244618563,
+              0.8470196851679135
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+              0.2666716291745927,
+              -0.3813370848447265,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005794440930441195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18710807488033473,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196851679135,
+            "min_z": 0.5730800627579278,
+            "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": 0.07569425450382684,
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+            "release_fingertip_min_gap": 0.0854416365803292,
+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.1549616121265881,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4941629752174459,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008118629455566406,
+            "max_z_decrease": 0.008118629455566406,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350251582863617,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008118629455566406,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021008300391426177,
+            "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": 0.008118629455566406,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008118677071918998,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12237155437469482,
+              -0.4375985562801361,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12237155437469482,
+              -0.4375985562801361,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12123707144798307,
+              -0.43833556363891923,
+              0.8036881745827289
+            ],
+            "closest_button": [
+              0.12239249050617217,
+              -0.43758025765419,
+              0.7686902284622192
+            ],
+            "closest_ee_minus_button": [
+              -0.0011554190581890972,
+              -0.0007553059847292265,
+              0.03499794612050966
+            ],
+            "button_min_z_position": [
+              0.12239249050617217,
+              -0.43758025765419,
+              0.7686902284622192
+            ],
+            "min_active_finger_to_button": 0.1468604151585251,
+            "closest_active_finger": [
+              -0.019702836871147156,
+              -0.4237455725669861,
+              0.8107231259346008
+            ],
+            "closest_active_finger_button": [
+              0.12237275391817093,
+              -0.4375964403152466,
+              0.7762171626091003
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14207559078931808,
+              0.013850867748260498,
+              0.03450596332550049
+            ],
+            "min_contact_pad_to_button": 0.021008300391426177,
+            "closest_contact_pad": [
+              0.12239249050617217,
+              -0.43938633867041343,
+              0.7896207505937676
+            ],
+            "closest_contact_pad_button": [
+              0.12239249050617217,
+              -0.43758025765419,
+              0.7686902284622192
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018060810162234264,
+              0.020930522131548335
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3caaeeae5b4f7ad9e4afabf105acecfa58f485e4209425698bd53c64b39c8e32",
+    "visual_seed": 6973234360204213199,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25523d6b970829ef5d605925738c0d8d6a0fb78e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499559524289732,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00825434923171997,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02096448654926754,
+            "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": 0.00825434923171997,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008254376486433174,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11631860584020616,
+              -0.44292005896568293,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11631860584020616,
+              -0.44292005896568293,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11607329433190769,
+              -0.44278391833814557,
+              0.803616439846811
+            ],
+            "closest_button": [
+              0.11632986366748811,
+              -0.4429010450839996,
+              0.7686219811439514
+            ],
+            "closest_ee_minus_button": [
+              -0.0002565693355804227,
+              0.00011712674585401261,
+              0.034994458702859554
+            ],
+            "button_min_z_position": [
+              0.11632676422595979,
+              -0.44290047883987427,
+              0.7685545086860657
+            ],
+            "min_active_finger_to_button": 0.1461168883348085,
+            "closest_active_finger": [
+              -0.010147586464881897,
+              -0.5074645280838013,
+              0.8105860352516174
+            ],
+            "closest_active_finger_button": [
+              0.11632111668586731,
+              -0.44291648268699646,
+              0.776098906993866
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264687031507492,
+              -0.06454804539680481,
+              0.034487128257751465
+            ],
+            "min_contact_pad_to_button": 0.02096448654926754,
+            "closest_contact_pad": [
+              0.11632676422595979,
+              -0.44379397493957756,
+              0.7894999463991867
+            ],
+            "closest_contact_pad_button": [
+              0.11632676422595979,
+              -0.44290047883987427,
+              0.7685545086860657
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008934960997032948,
+              0.020945437713121073
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a21d1d8065166d3c240219aa48d0122e629b6456790e6fe4b310bad2475b2570",
+    "visual_seed": 3827243646006201668,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e7daf9ce2d9aa9d4b75f1e47f203da06fa71f30
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16249380971441799,
+              0.2635426792160402,
+              1.045538499259509
+            ],
+            "current_z": 1.045538499259509,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.1889518726416538,
+            "gripper_z": 1.050987019501737,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15821779219394003,
+              0.2591924203612438,
+              1.050987019501737
+            ],
+            "object_minus_gripper": [
+              0.004276017520477959,
+              0.004350258854796396,
+              -0.005448520242228083
+            ],
+            "object_to_gripper_xy": 0.00609992442077514,
+            "object_to_gripper_z": -0.005448520242228083,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16249380971441799,
+              0.23943795058172232,
+              1.045538499259509
+            ],
+            "finger_b": [
+              0.1516642379885577,
+              0.2635426792160402,
+              1.045538499259509
+            ],
+            "finger_midpoint": [
+              0.15707902385148784,
+              0.25149031489888124,
+              1.045538499259509
+            ],
+            "object_minus_finger_midpoint": [
+              0.005414785862930149,
+              0.012052364317158948,
+              0.0
+            ],
+            "finger_gap": 0.026425698974665866,
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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": 1.045538499259509,
+            "object_top_z": 1.0922190120934459,
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+            "fingertip_min_top_clearance": 0.014004153850181061,
+            "object_projection_between_fingers": 0.832054026097309,
+            "object_to_finger_line_xy": 0.009878409949648061,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04938354153485269,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5186355996076168,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16174664878910733,
+              0.26462139610856006,
+              1.2414481139523172
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+            "held_position": [
+              0.16618385634279617,
+              0.2686996924765804,
+              1.2359152508289764
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00818131324920068,
+            "max_held_gripper_dist": 0.008183903590776538,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005532863123340892,
+            "max_held_gripper_z_dist": 0.005560846455784585,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08633606118760068,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16618385634279617,
+              0.2440316484041787,
+              1.2359152508289764
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+              1.2359152508289764
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+              0.16141329663500592,
+              0.25636567044037956,
+              1.2359152508289764
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+            "held_grasp_object_position": [
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+              0.2686996924765804,
+              1.2359152508289764
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+            "held_grasp_finger_gap": 0.026448919790046602,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024378566651256796,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.028227273737197623,
+              -0.9991828443478199,
+              0.02892861176008287
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004435036407372645,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03274162185067949,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2699298210765879,
+              -0.37732514064083833,
+              0.8470199080679097
+            ],
+            "target_position": [
+              0.2656144112442883,
+              -0.37804409676432876,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004374889704691141,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18460266275180606,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199080679097,
+            "min_z": 0.5730800627579278,
+            "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": 0.07576595168003702,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08669607944695502,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15217244542309352,
+            "release_required_pad_clearance": 0.053348039723477514,
+            "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": 1.7118456624685199,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007962346076965332,
+            "max_z_decrease": 0.007962346076965332,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035115878903239084,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007962346076965332,
+            "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": 0.021064844172981264,
+            "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": 0.007962346076965332,
+            "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": 0.007962366692627558,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12131433933973311,
+              -0.43430554866790766,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12131433933973311,
+              -0.43430554866790766,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11928854338903919,
+              -0.43430154908670765,
+              0.8077457967637464
+            ],
+            "closest_button": [
+              0.1213058829307556,
+              -0.43429884314537043,
+              0.7726879119873047
+            ],
+            "closest_ee_minus_button": [
+              -0.0020173395417164147,
+              -2.7059413372221286e-06,
+              0.03505788477644167
+            ],
+            "button_min_z_position": [
+              0.12129709869623184,
+              -0.4342999756336212,
+              0.7688465118408203
+            ],
+            "min_active_finger_to_button": 0.14797176584699503,
+            "closest_active_finger": [
+              -0.007285639643669128,
+              -0.4988923966884613,
+              0.8108434677124023
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+            "closest_active_finger_button": [
+              0.1213151291012764,
+              -0.43430444598197937,
+              0.7764068245887756
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12860076874494553,
+              -0.06458795070648193,
+              0.03443664312362671
+            ],
+            "min_contact_pad_to_button": 0.021064844172981264,
+            "closest_contact_pad": [
+              0.12129709869623184,
+              -0.4352650983497052,
+              0.7898892350052513
+            ],
+            "closest_contact_pad_button": [
+              0.12129709869623184,
+              -0.4342999756336212,
+              0.7688465118408203
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009651227160840103,
+              0.02104272316443101
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3855dfbc57453fb68dcfc589380d67c8911efd2497b5d4e2ac42cf362e21f8f9",
+    "visual_seed": 2612227524864977700,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2291ad9e06f1c89c8921fe094824c3641b1e1b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16043885459777218,
+              0.25958234094545923,
+              1.0430534252094887
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+            "current_z": 1.0430534252094887,
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+            "lift_margin": 0.18646673898698884,
+            "gripper_z": 1.04845714077277,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15636996188791366,
+              0.2553020925468352,
+              1.04845714077277
+            ],
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+              0.004068892709858524,
+              0.004280248398624009,
+              -0.005403715563281342
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+            "object_to_gripper_xy": 0.00590562564325434,
+            "object_to_gripper_z": -0.005403715563281342,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16043885459777218,
+              0.23573338204564523,
+              1.0430534252094887
+            ],
+            "finger_b": [
+              0.14964187899242667,
+              0.25958234094545923,
+              1.0430534252094887
+            ],
+            "finger_midpoint": [
+              0.15504036679509942,
+              0.24765786149555225,
+              1.0430534252094887
+            ],
+            "object_minus_finger_midpoint": [
+              0.005398487802672769,
+              0.011924479449906988,
+              0.0
+            ],
+            "finger_gap": 0.02617914289711265,
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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": 1.088919064613607,
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+            "object_projection_between_fingers": 0.829904277261425,
+            "object_to_finger_line_xy": 0.009835945678824315,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853902680659136,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0921521907376344,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f04e15dcf86b0f2a6d3c22d77cd517186a5b5ee3bf0820b6fbb8c44a5beb634a",
+    "visual_seed": 5677623270995656969,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4ddb6fb925a92820c33586b23eeb24d56bcae1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+          "metrics": {
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+              0.26338551333857707,
+              1.0434109585516091
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+              0.25888964154051025,
+              1.049051953702994
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+              1.0434109585516091
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+              0.2513452481535179,
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+              0.012040265185059185,
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+              0.0,
+              1.0
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+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_required_pad_clearance": 0.05317632400722701,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.3762678721978858,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008157074451446533,
+            "max_z_decrease": 0.008157074451446533,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504671423635801,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008157074451446533,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021121149741617988,
+            "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": 0.008157074451446533,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008157144459752819,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11451146006584163,
+              -0.44147244095802307,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11451146006584163,
+              -0.44147244095802307,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11322610127975188,
+              -0.4432954112140155,
+              0.8036253284626544
+            ],
+            "closest_button": [
+              0.114536702632904,
+              -0.44144997000694275,
+              0.7686517834663391
+            ],
+            "closest_ee_minus_button": [
+              -0.0013106013531521132,
+              -0.001845441207072751,
+              0.03497354499631533
+            ],
+            "button_min_z_position": [
+              0.114536702632904,
+              -0.44144997000694275,
+              0.7686517834663391
+            ],
+            "min_active_finger_to_button": 0.1469758548785933,
+            "closest_active_finger": [
+              -0.027829430997371674,
+              -0.4294516444206238,
+              0.8107909560203552
+            ],
+            "closest_active_finger_button": [
+              0.11451366543769832,
+              -0.44147035479545593,
+              0.7762092351913452
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14234309643506998,
+              0.012018710374832153,
+              0.03458172082901001
+            ],
+            "min_contact_pad_to_button": 0.021121149741617988,
+            "closest_contact_pad": [
+              0.114536702632904,
+              -0.44428051697478294,
+              0.7895824062537934
+            ],
+            "closest_contact_pad_button": [
+              0.114536702632904,
+              -0.44144997000694275,
+              0.7686517834663391
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028305469678401862,
+              0.02093062278745428
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ed7f1b92f7aba796ac7d1134b632518aa7b4f3a767455bbc1d2d7f94aee4d95",
+    "visual_seed": 4920061917688473904,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d2a391aba85da6750cd1337126e48a6a719185a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.162732517904295,
+              0.257894752344701,
+              1.043202572851012
+            ],
+            "current_z": 1.043202572851012,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18661612504709113,
+            "gripper_z": 1.048754022937706,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15855038165903204,
+              0.25365813703765594,
+              1.048754022937706
+            ],
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+              0.004182136245262952,
+              0.004236615307045055,
+              -0.005551450086693999
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+            "object_to_gripper_xy": 0.005953080953072163,
+            "object_to_gripper_z": -0.005551450086693999,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.162732517904295,
+              0.23375060758956953,
+              1.043202572851012
+            ],
+            "finger_b": [
+              0.15227789233716846,
+              0.257894752344701,
+              1.043202572851012
+            ],
+            "finger_midpoint": [
+              0.15750520512073174,
+              0.24582267996713525,
+              1.043202572851012
+            ],
+            "object_minus_finger_midpoint": [
+              0.005227312783563254,
+              0.012072072377565746,
+              0.0
+            ],
+            "finger_gap": 0.026310433704246648,
+            "fingertip_max_gap": 0.09209597058732893,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013155216852123331,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.043202572851012,
+            "object_top_z": 1.0891515484215137,
+            "finger_top_clearance": 0.045948975570501815,
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+            "object_projection_between_fingers": 0.8421076996371119,
+            "object_to_finger_line_xy": 0.009593836266281679,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854798529366447,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.959571548787996,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1618463082234344,
+              0.2595413990047396,
+              1.2385638208570173
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+            "held_position": [
+              0.1661133854386384,
+              0.26355953295721735,
+              1.232913719038775
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26919905293835594,
+              -0.3827611807052347,
+              0.8470196166410772
+            ],
+            "target_position": [
+              0.26406526220118187,
+              -0.38384452945816927,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005246851613451558,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18546428701329412,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196166410772,
+            "min_z": 0.5730800627579278,
+            "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": 0.07564934659025595,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867127973687034,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15350667647422356,
+            "release_required_pad_clearance": 0.0533563986843517,
+            "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": 1.7282276352040538,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008058130741119385,
+            "max_z_decrease": 0.008058130741119385,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035135012852526806,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008058130741119385,
+            "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": 0.021036496712750985,
+            "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": 0.008058130741119385,
+            "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": 0.008058137800755375,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1197651848196983,
+              -0.44010597467422485,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1197651848196983,
+              -0.44010597467422485,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11934488866029555,
+              -0.4384443491810615,
+              0.8077007372154217
+            ],
+            "closest_button": [
+              0.11975509673357007,
+              -0.44009989500045776,
+              0.772607147693634
+            ],
+            "closest_ee_minus_button": [
+              -0.0004102080732745206,
+              0.0016555458193962536,
+              0.03509358952178765
+            ],
+            "button_min_z_position": [
+              0.1197608485817909,
+              -0.4400962293148041,
+              0.7687507271766663
+            ],
+            "min_active_finger_to_button": 0.1458639459517113,
+            "closest_active_finger": [
+              -0.008248761296272278,
+              -0.5009747743606567,
+              0.8107219934463501
+            ],
+            "closest_active_finger_button": [
+              0.1197661235928535,
+              -0.44010335206985474,
+              0.7763250470161438
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12801488488912577,
+              -0.060871422290802,
+              0.0343969464302063
+            ],
+            "min_contact_pad_to_button": 0.021036496712750985,
+            "closest_contact_pad": [
+              0.1197608485817909,
+              -0.4400962293148041,
+              0.7897872238894172
+            ],
+            "closest_contact_pad_button": [
+              0.1197608485817909,
+              -0.4400962293148041,
+              0.7687507271766663
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021036496712750985
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "374daf7cd5bdc325f513c0f40d88722bd54470816b55d0ec7acc0dac578482fd",
+    "visual_seed": 9177793186335397342,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f533707eda3566e4309cec947e78d75cda57b431
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "contact_point_distance": 0.02126242079025357,
+            "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": 0.008026182651519775,
+            "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": 0.008026206751686568,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11452267318964002,
+              -0.43799436092376703,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11452267318964002,
+              -0.43799436092376703,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11637072793015268,
+              -0.43966724920986955,
+              0.8074461274349768
+            ],
+            "closest_button": [
+              0.11451117694377895,
+              -0.4379898607730865,
+              0.7723503112792969
+            ],
+            "closest_ee_minus_button": [
+              0.0018595509863737342,
+              -0.001677388436783056,
+              0.035095816155679915
+            ],
+            "button_min_z_position": [
+              0.11450320482254026,
+              -0.4379915595054626,
+              0.7687826752662659
+            ],
+            "min_active_finger_to_button": 0.14420622557261276,
+            "closest_active_finger": [
+              -0.024646669626235962,
+              -0.42258402705192566,
+              0.8108724355697632
+            ],
+            "closest_active_finger_button": [
+              0.11452347040176389,
+              -0.4379912912845611,
+              0.7763800621032715
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13917014002799985,
+              0.015407264232635443,
+              0.0344923734664917
+            ],
+            "min_contact_pad_to_button": 0.02126242079025357,
+            "closest_contact_pad": [
+              0.11450320482254026,
+              -0.44081441566645335,
+              0.7898568780022216
+            ],
+            "closest_contact_pad_button": [
+              0.11450320482254026,
+              -0.4379915595054626,
+              0.7687826752662659
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002822856160990761,
+              0.021074202735955727
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fb1a3a6f1299a367e59d0ae855d4e83fb68ce84150ac490a14b35b7abb836cbe",
+    "visual_seed": 5510058338875500853,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..117ffa34b7f8b9fc723eca98727ac05aca0c591c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.15957224910030565,
+              0.2546496784913711,
+              1.0445259626618262
+            ],
+            "current_z": 1.0445259626618262,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1879394552532606,
+            "gripper_z": 1.0499794911559088,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15566648486378473,
+              0.2505758658971309,
+              1.0499794911559088
+            ],
+            "object_minus_gripper": [
+              0.00390576423652092,
+              0.004073812594240223,
+              -0.005453528494082649
+            ],
+            "object_to_gripper_xy": 0.005643663998173181,
+            "object_to_gripper_z": -0.005453528494082649,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.15957224910030565,
+              0.23064020645027378,
+              1.0445259626618262
+            ],
+            "finger_b": [
+              0.14941797256782496,
+              0.2546496784913711,
+              1.0445259626618262
+            ],
+            "finger_midpoint": [
+              0.1544951108340653,
+              0.24264494247082244,
+              1.0445259626618262
+            ],
+            "object_minus_finger_midpoint": [
+              0.005077138266240344,
+              0.012004736020548662,
+              0.0
+            ],
+            "finger_gap": 0.026068449888520837,
+            "fingertip_max_gap": 0.09124878962486963,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013034224944260419,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0445259626618262,
+            "object_top_z": 1.089754053151088,
+            "finger_top_clearance": 0.04522809048926191,
+            "fingertip_min_top_clearance": 0.013568427146778606,
+            "object_projection_between_fingers": 0.8482713624883648,
+            "object_to_finger_line_xy": 0.009352256062280165,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048124394812434815,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2472506379385102,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15897166911561392,
+              0.2565606459462539,
+              1.239890511626204
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+            "held_position": [
+              0.16295064758640534,
+              0.2604353474562688,
+              1.2343435324021785
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007849494249600013,
+            "max_held_gripper_dist": 0.007859564101690846,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005546979224025472,
+            "max_held_gripper_z_dist": 0.005571916506025065,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608276664517162,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16295064758640534,
+              0.2360780200395805,
+              1.2343435324021785
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+            "held_grasp_finger_b": [
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+              0.2604353474562688,
+              1.2343435324021785
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+            "held_grasp_midpoint": [
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+              0.24825668374792464,
+              1.2343435324021785
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+            "held_grasp_object_position": [
+              0.16295064758640534,
+              0.2604353474562688,
+              1.2343435324021785
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+            "held_grasp_finger_gap": 0.02604408001368601,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024244256235678188,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.011871364628614193,
+              -0.9998516610556673,
+              0.012479045880100516
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044678659317661075,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03296863880719735,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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"
+              ],
+              "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2702098293788914,
+              -0.38337669621452314,
+              0.8470186932319561
+            ],
+            "target_position": [
+              0.2647834143748163,
+              -0.3846012033969691,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005562858764728176,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856771724569582,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470186932319561,
+            "min_z": 0.5730800627579278,
+            "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": 0.07523180460527619,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08617964501903909,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15461906233532824,
+            "release_required_pad_clearance": 0.053089822509519546,
+            "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": 1.2026630263270157,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00810253620147705,
+            "max_z_decrease": 0.00810253620147705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508883687408683,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00810253620147705,
+            "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": 0.02104429295582224,
+            "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": 0.00810253620147705,
+            "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": 0.008102563743364407,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12048333883285524,
+              -0.44086265563964844,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12048333883285524,
+              -0.44086265563964844,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11840543364338407,
+              -0.44160264519632036,
+              0.8037246034454024
+            ],
+            "closest_button": [
+              0.12049702554941177,
+              -0.44084656238555914,
+              0.7687063217163086
+            ],
+            "closest_ee_minus_button": [
+              -0.002091591906027701,
+              -0.0007560828107612272,
+              0.035018281729093825
+            ],
+            "button_min_z_position": [
+              0.12049702554941177,
+              -0.44084656238555914,
+              0.7687063217163086
+            ],
+            "min_active_finger_to_button": 0.1477138956505887,
+            "closest_active_finger": [
+              -0.02210288494825363,
+              -0.42344537377357483,
+              0.811234712600708
+            ],
+            "closest_active_finger_button": [
+              0.12048248201608659,
+              -0.4408629834651947,
+              0.7768045663833618
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1425853669643402,
+              0.017417609691619873,
+              0.03443014621734619
+            ],
+            "min_contact_pad_to_button": 0.02104429295582224,
+            "closest_contact_pad": [
+              0.12049702554941177,
+              -0.4429693901978595,
+              0.7896432715440603
+            ],
+            "closest_contact_pad_button": [
+              0.12049702554941177,
+              -0.44084656238555914,
+              0.7687063217163086
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021228278123003874,
+              0.02093694982775174
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "daf555a9e5da2aa9b64454e148dc69e1fb438d50dd600c3131d96b2e83b25fab",
+    "visual_seed": 7774907075825153544,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac27d10f0e8aadf91a2406be28a0cee0c6ec890
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "object_position": [
+              0.16856569441477923,
+              0.26114584917984623,
+              1.0431097367223006
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+            "lift_margin": 0.186523229313735,
+            "gripper_z": 1.0487313942685117,
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+            "gripper_position": [
+              0.16368751260350323,
+              0.25635661672705795,
+              1.0487313942685117
+            ],
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+              0.004878181811276,
+              0.0047892324527882835,
+              -0.005621657546211134
+            ],
+            "object_to_gripper_xy": 0.006836183531086952,
+            "object_to_gripper_z": -0.005621657546211134,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16856569441477923,
+              0.23682982285781415,
+              1.0431097367223006
+            ],
+            "finger_b": [
+              0.15686941279924255,
+              0.26114584917984623,
+              1.0431097367223006
+            ],
+            "finger_midpoint": [
+              0.1627175536070109,
+              0.24898783601883018,
+              1.0431097367223006
+            ],
+            "object_minus_finger_midpoint": [
+              0.005848140807768326,
+              0.012158013161016057,
+              0.0
+            ],
+            "finger_gap": 0.026982811931370285,
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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": 1.0431097367223006,
+            "object_top_z": 1.0885060228866115,
+            "finger_top_clearance": 0.045396286164310906,
+            "fingertip_min_top_clearance": 0.013618885849293239,
+            "object_projection_between_fingers": 0.8121024055640178,
+            "object_to_finger_line_xy": 0.010540305893865629,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047953104792465714,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7242872585244522,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "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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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f3232d1d3706c9e2d9baa4c5a0b34c974e444a7577ae33e2c9cb1ec8cd4db48",
+    "visual_seed": 4034690162954782999,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d12d1ce1bc8ad0b3c04d41b0c3c8cac59ba51de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+              1.0432966537698445
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+            "lift_margin": 0.1867102059659237,
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+            "gripper_position": [
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+              0.25723420378419826,
+              1.0489272741915683
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+              0.004455813117607177,
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+              0.2377077290361507,
+              1.0432966537698445
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+              0.26169001690180543,
+              1.0432966537698445
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+              0.24969887296897808,
+              1.0432966537698445
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+              0.011991143932827353,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.26294311479006804,
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+            "held_position": [
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+              0.26708399687068873,
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.005753061664443004,
+            "max_held_gripper_z_dist": 0.00578163129562248,
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+              0.25475185528654504,
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+              0.26708399687068873,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.004379187343757955,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
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+        },
+        "gripper": null,
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+      "physical_semantics": {
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+          "passed": true,
+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525386555519675,
+            "release_required_pad_clearance": 0.05250873745035295,
+            "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": 0.08846794210150666,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
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+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008025586605072021,
+            "max_z_decrease": 0.008025586605072021,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514407970881938,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008025586605072021,
+            "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": 0.02108145955720142,
+            "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": 0.008025586605072021,
+            "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": 0.00802561764898137,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1197759285569191,
+              -0.4341945946216583,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1197759285569191,
+              -0.4341945946216583,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12137868098842475,
+              -0.43301747451557326,
+              0.8076579843117349
+            ],
+            "closest_button": [
+              0.11976633220911026,
+              -0.4341880679130554,
+              0.7725704312324524
+            ],
+            "closest_ee_minus_button": [
+              0.0016123487793144875,
+              0.0011705933974821559,
+              0.03508755307928246
+            ],
+            "button_min_z_position": [
+              0.11975404620170593,
+              -0.43419018387794495,
+              0.7687832713127136
+            ],
+            "min_active_finger_to_button": 0.14430752050821063,
+            "closest_active_finger": [
+              -0.004903025925159454,
+              -0.4981585741043091,
+              0.8108338713645935
+            ],
+            "closest_active_finger_button": [
+              0.11977748572826387,
+              -0.43419182300567627,
+              0.7763710618019104
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12468051165342332,
+              -0.06396675109863281,
+              0.034462809562683105
+            ],
+            "min_contact_pad_to_button": 0.02108145955720142,
+            "closest_contact_pad": [
+              0.11975404620170593,
+              -0.43419018387794495,
+              0.789864730869915
+            ],
+            "closest_contact_pad_button": [
+              0.11975404620170593,
+              -0.43419018387794495,
+              0.7687832713127136
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108145955720142
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7593d7da904853db8616bb57913b61a7c748d8f4557feb32fdb77e88fa062853",
+    "visual_seed": 6529461495425213270,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83c1b1b9a7fe61751420b5fef3a71a1a262d1059
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16202332046821707,
+              0.2550482751204242,
+              1.0427078557814236
+            ],
+            "current_z": 1.0427078557814236,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.186121348372858,
+            "gripper_z": 1.0483484307767432,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1577557390464215,
+              0.2507537536804608,
+              1.0483484307767432
+            ],
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+              0.004267581421795563,
+              0.004294521439963395,
+              -0.005640574995319669
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+            "object_to_gripper_xy": 0.006054350963560001,
+            "object_to_gripper_z": -0.005640574995319669,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16202332046821707,
+              0.23088390996452987,
+              1.0427078557814236
+            ],
+            "finger_b": [
+              0.15143741744558897,
+              0.2550482751204242,
+              1.0427078557814236
+            ],
+            "finger_midpoint": [
+              0.156730368956903,
+              0.24296609254247703,
+              1.0427078557814236
+            ],
+            "object_minus_finger_midpoint": [
+              0.005292951511314065,
+              0.012082182577947187,
+              0.0
+            ],
+            "finger_gap": 0.026381392802350058,
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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_to_finger_line_xy": 0.00969628965612781,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04912081462672757,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4000416582906243,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16104190075543096,
+              0.2566244609524696,
+              1.2373455463615057
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+            "held_position": [
+              0.16538539691049256,
+              0.26068776402065574,
+              1.2315938937052497
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008273928870324089,
+            "max_held_gripper_dist": 0.008279821858805228,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00575165265625599,
+            "max_held_gripper_z_dist": 0.005778808711481842,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08635659623862582,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "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",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2678406927626398,
+              -0.3806707662093665,
+              0.847019691117003
+            ],
+            "target_position": [
+              0.2633782988256372,
+              -0.38132838219136184,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0045105895877116985,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18649144942890894,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019691117003,
+            "min_z": 0.5730800627579278,
+            "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": 0.07532414295339,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08628926252974532,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15511605401484818,
+            "release_required_pad_clearance": 0.05314463126487266,
+            "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": 1.3146029307953726,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008095920085906982,
+            "max_z_decrease": 0.008095920085906982,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035120132145472674,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008095920085906982,
+            "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": 0.02119810918731467,
+            "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": 0.008095920085906982,
+            "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": 0.008095942864956018,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11907822638750072,
+              -0.43758985400199885,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11907822638750072,
+              -0.43758985400199885,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11993192409670828,
+              -0.43927869064965264,
+              0.8037812991542563
+            ],
+            "closest_button": [
+              0.11908386647701259,
+              -0.437571495771408,
+              0.7687129378318787
+            ],
+            "closest_ee_minus_button": [
+              0.0008480576196956829,
+              -0.0017071948782446111,
+              0.03506836132237767
+            ],
+            "button_min_z_position": [
+              0.11908386647701259,
+              -0.437571495771408,
+              0.7687129378318787
+            ],
+            "min_active_finger_to_button": 0.1448135036458224,
+            "closest_active_finger": [
+              -0.020781904458999634,
+              -0.42269986867904663,
+              0.8107374310493469
+            ],
+            "closest_active_finger_button": [
+              0.11907923966646192,
+              -0.43758693337440485,
+              0.7762673497200012
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13986114412546155,
+              0.01488706469535822,
+              0.0344700813293457
+            ],
+            "min_contact_pad_to_button": 0.02119810918731467,
+            "closest_contact_pad": [
+              0.11908386647701259,
+              -0.44050669365482037,
+              0.7897068523430537
+            ],
+            "closest_contact_pad_button": [
+              0.11908386647701259,
+              -0.437571495771408,
+              0.7687129378318787
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029351978834123438,
+              0.02099391451117505
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "545969062d1134c694a5b74f5ca13bbc3598549f1f960c73c8855454483b7c1a",
+    "visual_seed": 5646796774461696666,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca9ee58654cff7d40fbd694245d60f8ba99de4b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
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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": 0.007868675502166498,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11532738804817198,
+              -0.43505340814590454,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11532738804817198,
+              -0.43505340814590454,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11626164866299518,
+              -0.43570079146621266,
+              0.8076282940635292
+            ],
+            "closest_button": [
+              0.11531703174114226,
+              -0.43504804372787476,
+              0.7725423574447632
+            ],
+            "closest_ee_minus_button": [
+              0.0009446169218529227,
+              -0.0006527477383378999,
+              0.03508593661876602
+            ],
+            "button_min_z_position": [
+              0.11530697345733641,
+              -0.4350486397743225,
+              0.7689402103424072
+            ],
+            "min_active_finger_to_button": 0.14523898123253615,
+            "closest_active_finger": [
+              -0.024994097650051117,
+              -0.4205460846424103,
+              0.8110495209693909
+            ],
+            "closest_active_finger_button": [
+              0.11532925814390181,
+              -0.4350503087043762,
+              0.7765046954154968
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14032335579395294,
+              0.014504224061965942,
+              0.03454482555389404
+            ],
+            "min_contact_pad_to_button": 0.021140128256849508,
+            "closest_contact_pad": [
+              0.11530697345733641,
+              -0.4366784136330128,
+              0.7900174222046431
+            ],
+            "closest_contact_pad_button": [
+              0.11530697345733641,
+              -0.4350486397743225,
+              0.7689402103424072
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016297738586902866,
+              0.02107721186223588
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66a4db47a52590dcf983a97541814138e773db962ddfcd86f7434c07a1242fb2",
+    "visual_seed": 8353924389266483925,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d55eae8eb5091e47af7a17160a123960ffa0921f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16384820389647936,
+              0.25576483475254064,
+              1.044335326246828
+            ],
+            "current_z": 1.044335326246828,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18774887844290722,
+            "gripper_z": 1.0500615933165647,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15959288038831862,
+              0.2514909141433105,
+              1.0500615933165647
+            ],
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+              0.004255323508160741,
+              0.004273920609230153,
+              -0.005726267069736668
+            ],
+            "object_to_gripper_xy": 0.006031100690015685,
+            "object_to_gripper_z": -0.005726267069736668,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16384820389647936,
+              0.23157942871329054,
+              1.044335326246828
+            ],
+            "finger_b": [
+              0.15331582328070195,
+              0.25576483475254064,
+              1.044335326246828
+            ],
+            "finger_midpoint": [
+              0.15858201358859064,
+              0.24367213173291558,
+              1.044335326246828
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052661903078887184,
+              0.012092703019625062,
+              0.0
+            ],
+            "finger_gap": 0.026379251443492454,
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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": 1.044335326246828,
+            "object_top_z": 1.0897920216310435,
+            "finger_top_clearance": 0.045456695384215484,
+            "fingertip_min_top_clearance": 0.013637008615264646,
+            "object_projection_between_fingers": 0.8405853774712633,
+            "object_to_finger_line_xy": 0.009656449209643638,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831679933179203,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2757013846454783,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1629418137794083,
+              0.2573022573839028,
+              1.2403829485004232
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+            "held_position": [
+              0.16728843361178053,
+              0.2613505959046345,
+              1.2345638294524834
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008315304879540316,
+            "max_held_gripper_dist": 0.008321293816203477,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005819119047939747,
+            "max_held_gripper_z_dist": 0.005846522278110777,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08621585085259337,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16728843361178053,
+              0.23679097175223432,
+              1.2345638294524834
+            ],
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+              0.15771323751846247,
+              0.2613505959046345,
+              1.2345638294524834
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+            "held_grasp_midpoint": [
+              0.16250083556512152,
+              0.2490707838284344,
+              1.2345638294524834
+            ],
+            "held_grasp_object_position": [
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+              0.2613505959046345,
+              1.2345638294524834
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+            "held_grasp_finger_gap": 0.026360188139174037,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02441784214247468,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.014235089189759903,
+              -0.9997769412311165,
+              0.01560224401527199
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004616308405277635,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03285500012417561,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              -0.37808472688025385,
+              0.8470194017432249
+            ],
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+              0.25835752742984575,
+              -0.3795620655487473,
+              0.8084375599031817
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18326850275504478,
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+            "gripper_away_ok": true,
+            "object_z": 0.8470194017432249,
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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_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": 1.02334520205855,
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+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008080065250396729,
+            "max_z_decrease": 0.008080065250396729,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035120412891803406,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008080065250396729,
+            "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": 0.021038511335353866,
+            "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": 0.008080065250396729,
+            "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": 0.008080077486873467,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11405745148658751,
+              -0.435823529958725,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11405745148658751,
+              -0.435823529958725,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1151573668855552,
+              -0.43485153469236715,
+              0.8038189302408647
+            ],
+            "closest_button": [
+              0.11405829340219495,
+              -0.43580949306488037,
+              0.7687287926673889
+            ],
+            "closest_ee_minus_button": [
+              0.0010990734833602467,
+              0.0009579583725132235,
+              0.03509013757347579
+            ],
+            "button_min_z_position": [
+              0.11405829340219495,
+              -0.43580949306488037,
+              0.7687287926673889
+            ],
+            "min_active_finger_to_button": 0.1445398096046907,
+            "closest_active_finger": [
+              -0.012311019003391266,
+              -0.4969591200351715,
+              0.8110185861587524
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+            "closest_active_finger_button": [
+              0.1140588968992233,
+              -0.43582090735435486,
+              0.7766017317771912
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12636991590261457,
+              -0.06113821268081665,
+              0.03441685438156128
+            ],
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+            "closest_contact_pad": [
+              0.11405829340219495,
+              -0.43612782621184154,
+              0.7897648955197558
+            ],
+            "closest_contact_pad_button": [
+              0.11405829340219495,
+              -0.43580949306488037,
+              0.7687287926673889
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00031833314696116943,
+              0.0210361028523669
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ccc03ad97a408e2c49377727ff47653509618aafe18d3ee736e0d41216d20fd",
+    "visual_seed": 6317160994012603265,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f09567a1aac5b7579d645ca8f8db8322724e5f6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.2597436098644721,
+              1.0440504438013403
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+            "lift_margin": 0.18746381718348515,
+            "gripper_z": 1.0495875524757148,
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+            "gripper_position": [
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+              0.25527506943161804,
+              1.0495875524757148
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+              0.004468540432854051,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.16452813346210154,
+              0.23574468767786447,
+              1.0440504438013403
+            ],
+            "finger_b": [
+              0.15335747927238927,
+              0.2597436098644721,
+              1.0440504438013403
+            ],
+            "finger_midpoint": [
+              0.1589428063672454,
+              0.2477441487711683,
+              1.0440504438013403
+            ],
+            "object_minus_finger_midpoint": [
+              0.005585327094856152,
+              0.011999461093303798,
+              0.0
+            ],
+            "finger_gap": 0.026471338861965107,
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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_to_finger_line_xy": 0.01012731777830849,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049049608566135675,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4231910502164062,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
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+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db68afc949946d5b963a7f73baa4c79edde3fdfe4c6f7e93b1703b53ecaca531",
+    "visual_seed": 123503281253822507,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..916609a13d64c6057353cc20b519f3a9bbb49ba3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.2623459949624702,
+              1.0424602325190728
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+            "gripper_position": [
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+              0.25801788171630474,
+              1.0479988457119862
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+              0.004328113246165444,
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+              0.2382175157658249,
+              1.0424602325190728
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+              0.2623459949624702,
+              1.0424602325190728
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+              0.25028175536414754,
+              1.0424602325190728
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+              0.012064239598322646,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.26366838458657005,
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+              0.2677416375037576,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005647447173354969,
+            "max_held_gripper_z_dist": 0.0056751383238158315,
+            "held_gripper_z_max_dist": 0.15,
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+              0.2554337080050948,
+              1.2323589685120837
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.02057756210789574
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+            "held_grasp_object_to_finger_line_xy": 0.004499492697131267,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "passed": true,
+          "metrics": {
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+            "release_fingertip_min_gap": 0.08531745599998479,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15579259782665197,
+            "release_required_pad_clearance": 0.0526587279999924,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3753436376418202,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008085370063781738,
+            "max_z_decrease": 0.008085370063781738,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035120719639972986,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008085370063781738,
+            "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": 0.020997798923541634,
+            "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": 0.008085370063781738,
+            "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": 0.00808538563779047,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12304411083459856,
+              -0.4388330280780792,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12304411083459856,
+              -0.4388330280780792,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12194247726048094,
+              -0.43757620220715193,
+              0.8038047535916044
+            ],
+            "closest_button": [
+              0.12305010855197906,
+              -0.43881833553314203,
+              0.7687234878540039
+            ],
+            "closest_ee_minus_button": [
+              -0.001107631291498129,
+              0.0012421333259901024,
+              0.03508126573760051
+            ],
+            "button_min_z_position": [
+              0.12305010855197906,
+              -0.43881833553314203,
+              0.7687234878540039
+            ],
+            "min_active_finger_to_button": 0.14631654526101112,
+            "closest_active_finger": [
+              -0.005539640784263611,
+              -0.4996141791343689,
+              0.8106058835983276
+            ],
+            "closest_active_finger_button": [
+              0.12304489314556122,
+              -0.43883129954338074,
+              0.7762548923492432
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12858453392982483,
+              -0.06078287959098816,
+              0.03435099124908447
+            ],
+            "min_contact_pad_to_button": 0.020997798923541634,
+            "closest_contact_pad": [
+              0.12305010855197906,
+              -0.4388549914713393,
+              0.7897212547823151
+            ],
+            "closest_contact_pad_button": [
+              0.12305010855197906,
+              -0.43881833553314203,
+              0.7687234878540039
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -3.665593819723867e-05,
+              0.020997766928311234
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2381b89f05c33dfce70b1c1405c37dca4055266d40c821dbd12658376d2b8111",
+    "visual_seed": 7463522683509582902,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de03c9736db1f2bceea8b0f0f02dd1818ed55a1a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_89_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16065425540986764,
+              0.2630778115885305,
+              1.044462910445688
+            ],
+            "current_z": 1.044462910445688,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18787646264176716,
+            "gripper_z": 1.050090155923323,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15657223114962934,
+              0.25870976693283276,
+              1.050090155923323
+            ],
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+              0.004082024260238293,
+              0.004368044655697734,
+              -0.005627245477635157
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+            "object_to_gripper_z": -0.005627245477635157,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16065425540986764,
+              0.23933786389372338,
+              1.044462910445688
+            ],
+            "finger_b": [
+              0.14951435350863065,
+              0.2630778115885305,
+              1.044462910445688
+            ],
+            "finger_midpoint": [
+              0.15508430445924914,
+              0.2512078377411269,
+              1.044462910445688
+            ],
+            "object_minus_finger_midpoint": [
+              0.005569950950618491,
+              0.01186997384740357,
+              0.0
+            ],
+            "finger_gap": 0.0262237017013495,
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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": 0.8195425813668454,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049144410346241105,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.34481988665912,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16012532017705153,
+              0.26411223046849275,
+              1.2377303896512812
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+            "held_position": [
+              0.16441550210995506,
+              0.26813225201252333,
+              1.231999287796151
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00821046665578513,
+            "max_held_gripper_dist": 0.008216698203014258,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005731101855130261,
+            "max_held_gripper_z_dist": 0.005758150177373578,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08639546055284761,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16441550210995506,
+              0.24353440458630723,
+              1.231999287796151
+            ],
+            "held_grasp_finger_b": [
+              0.15507145705529513,
+              0.26813225201252333,
+              1.231999287796151
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
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+                "geometry",
+                "gripper",
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+                "joint1",
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+                "joint3",
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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",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
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+                "groundplane",
+                "link0",
+                "table",
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+            },
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2634186927394898,
+              -0.38669816258156153,
+              0.8470196200418644
+            ],
+            "target_position": [
+              0.2591496814875505,
+              -0.3872260369478997,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004301523964343475,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1830032198072866,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196200418644,
+            "min_z": 0.5730800627579278,
+            "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": 0.075853005202957,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593852295659814,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15056597403871627,
+            "release_required_pad_clearance": 0.05296926147829907,
+            "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": 0.9731653486569968,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008162260055541992,
+            "max_z_decrease": 0.008162260055541992,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509269931847062,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008162260055541992,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021156567643931975,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.008162260055541992,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008162327615948227,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11484960466623302,
+              -0.44348749518394476,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11484960466623302,
+              -0.44348749518394476,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11259352427944239,
+              -0.4454102304655452,
+              0.8036110476486136
+            ],
+            "closest_button": [
+              0.11487495154142377,
+              -0.4434660375118256,
+              0.7686465978622437
+            ],
+            "closest_ee_minus_button": [
+              -0.0022814272619813836,
+              -0.001944192953719559,
+              0.03496444978636992
+            ],
+            "button_min_z_position": [
+              0.11487495154142377,
+              -0.4434660375118256,
+              0.7686465978622437
+            ],
+            "min_active_finger_to_button": 0.1477852455594932,
+            "closest_active_finger": [
+              -0.02799268066883087,
+              -0.427710622549057,
+              0.8105884790420532
+            ],
+            "closest_active_finger_button": [
+              0.11484798043966289,
+              -0.44348677992820745,
+              0.7761191129684448
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14284066110849375,
+              0.015776157379150446,
+              0.0344693660736084
+            ],
+            "min_contact_pad_to_button": 0.021156567643931975,
+            "closest_contact_pad": [
+              0.11487495154142377,
+              -0.4467382250801471,
+              0.7895485868343485
+            ],
+            "closest_contact_pad_button": [
+              0.11487495154142377,
+              -0.4434660375118256,
+              0.7686465978622437
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003272187568321483,
+              0.020901988972104824
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59842e7cd1e35c410cc80c9031d8cac3dea9d3b366bf6b56bdaa373ac194d4d2",
+    "visual_seed": 8672479076505816463,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d72be75894fe02267d1915977b0d2f27ac5790fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16773836102928355,
+              0.2608931231287689,
+              1.0446715230471364
+            ],
+            "current_z": 1.0446715230471364,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18808501563857083,
+            "gripper_z": 1.0501811165460877,
+            "force_virtual_attach": false,
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+              0.12203021347522734,
+              -0.4382499158382416,
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+              0.12021745901175476,
+              -0.43938223290622735,
+              0.8077165864649017
+            ],
+            "closest_button": [
+              0.1220213621854782,
+              -0.43824470043182373,
+              0.7726446390151978
+            ],
+            "closest_ee_minus_button": [
+              -0.001803903173723434,
+              -0.0011375324744036241,
+              0.03507194744970399
+            ],
+            "button_min_z_position": [
+              0.12203139066696166,
+              -0.43823477625846863,
+              0.7687353491783142
+            ],
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+            "closest_active_finger": [
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+              -0.42185038328170776,
+              0.8106914162635803
+            ],
+            "closest_active_finger_button": [
+              0.12203069031238555,
+              -0.4382488429546356,
+              0.7762748599052429
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.14280467480421066,
+              0.016398459672927856,
+              0.0344165563583374
+            ],
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+            "closest_contact_pad": [
+              0.12203139066696166,
+              -0.4406363163492105,
+              0.7897104464988766
+            ],
+            "closest_contact_pad_button": [
+              0.12203139066696166,
+              -0.43823477625846863,
+              0.7687353491783142
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002401540090741894,
+              0.020975097320562353
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "429abb71f699a84c8b2fb6383c0cce4c812cf38f96cef26f55abea63711e4e74",
+    "visual_seed": 578923197750844627,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e6d27e519dd33266bcfc280f77e66e02e49a0d0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16919688436115224,
+              0.2577681356839012,
+              1.0422819140136241
+            ],
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+            "gripper_z": 1.0477393898973775,
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+            "gripper_position": [
+              0.16460714107309837,
+              0.25309073738913124,
+              1.0477393898973775
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+              0.004589743288053866,
+              0.0046773982947699855,
+              -0.005457475883753338
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+            "object_to_gripper_z": -0.005457475883753338,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.16919688436115224,
+              0.2337709158101084,
+              1.0422819140136241
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+            "finger_b": [
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+              0.2577681356839012,
+              1.0422819140136241
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+            "finger_midpoint": [
+              0.16335778994514127,
+              0.2457695257470048,
+              1.0422819140136241
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+              0.005839094416010965,
+              0.011998609936896415,
+              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": 0.04864268782052972,
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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": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "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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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2586214663633318,
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+              0.26291465671300046,
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008527686915045364,
+            "max_held_gripper_dist": 0.008534033079114158,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005568589605329244,
+            "max_held_gripper_z_dist": 0.0055989376548071235,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08627768889992288,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.23806399035654244,
+              1.2317483559785318
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+              0.26291465671300046,
+              1.2317483559785318
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+              0.25048932353477144,
+              1.2317483559785318
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+            "held_grasp_object_position": [
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+              0.26291465671300046,
+              1.2317483559785318
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+            "held_grasp_finger_gap": 0.026765788869257474,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02431938788012437,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04974882104846119,
+              -0.9985250092583198,
+              0.021745360193855978
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004355468010452307,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2684999058329999,
+              -0.3811308039239198,
+              0.8470196032972532
+            ],
+            "target_position": [
+              0.26308703554816115,
+              -0.3824323671355967,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005567156501705402,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18723291874395634,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196032972532,
+            "min_z": 0.5730800627579278,
+            "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": 0.07576946364381835,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08557146801702954,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15491621825663732,
+            "release_required_pad_clearance": 0.05278573400851477,
+            "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": 0.6192859719152675,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008099973201751709,
+            "max_z_decrease": 0.008099973201751709,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035059926955184666,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008099973201751709,
+            "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": 0.021008187844231554,
+            "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": 0.008099973201751709,
+            "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": 0.008099999445055985,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11878696084022522,
+              -0.43869382143020624,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11878696084022522,
+              -0.43869382143020624,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11911593014460994,
+              -0.4384347385494577,
+              0.80376652694293
+            ],
+            "closest_button": [
+              0.11879605054855347,
+              -0.43867531418800354,
+              0.7687088847160339
+            ],
+            "closest_ee_minus_button": [
+              0.0003198795960564771,
+              0.00024057563854584796,
+              0.03505764222689611
+            ],
+            "button_min_z_position": [
+              0.11879605054855347,
+              -0.43867531418800354,
+              0.7687088847160339
+            ],
+            "min_active_finger_to_button": 0.1454997176063672,
+            "closest_active_finger": [
+              -0.008185997605323792,
+              -0.5008661150932312,
+              0.8111996054649353
+            ],
+            "closest_active_finger_button": [
+              0.1187860742211342,
+              -0.43869286775588984,
+              0.776808500289917
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12697207182645798,
+              -0.062173247337341364,
+              0.03439110517501831
+            ],
+            "min_contact_pad_to_button": 0.021008187844231554,
+            "closest_contact_pad": [
+              0.11879605054855347,
+              -0.4396767655216311,
+              0.7896931896062345
+            ],
+            "closest_contact_pad_button": [
+              0.11879605054855347,
+              -0.43867531418800354,
+              0.7687088847160339
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010014513336275566,
+              0.020984304890200534
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6d8b0027b7fa4ab4791f3355f66104d423a24f17b4785dc2ae879a92c7a14d57",
+    "visual_seed": 8005217892331622345,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca46a5299f32c84cb846b3fdf31ab26171166c89
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16361347357203262,
+              0.25531171390843954,
+              1.0451722897543925
+            ],
+            "current_z": 1.0451722897543925,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18858590155511645,
+            "gripper_z": 1.050733827291439,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15932717410955718,
+              0.25093603076098236,
+              1.050733827291439
+            ],
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+              0.00428629946247544,
+              0.004375683147457177,
+              -0.005561537537046579
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+            "object_to_gripper_xy": 0.006125272735883521,
+            "object_to_gripper_z": -0.005561537537046579,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16361347357203262,
+              0.23123292071707674,
+              1.0451722897543925
+            ],
+            "finger_b": [
+              0.15271595400532872,
+              0.25531171390843954,
+              1.0451722897543925
+            ],
+            "finger_midpoint": [
+              0.1581647137886807,
+              0.24327231731275814,
+              1.0451722897543925
+            ],
+            "object_minus_finger_midpoint": [
+              0.005448759783351936,
+              0.0120393965956814,
+              0.0
+            ],
+            "finger_gap": 0.026429987027221824,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013214993513610907,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0451722897543925,
+            "object_top_z": 1.0909247755534073,
+            "finger_top_clearance": 0.04575248579901481,
+            "fingertip_min_top_clearance": 0.013725745739704443,
+            "object_projection_between_fingers": 0.8299951094253231,
+            "object_to_finger_line_xy": 0.009928083569440737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048325509855201274,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7195944089008334,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "32c79b1a2f4c877b48fd9da2910b688e4acdcfaf4b0701f2e7d47e167dbb6510",
+    "visual_seed": 3071090068273590194,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e11763c92acfab2970693136c322966e81aec01
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.2555331236736511,
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+              0.004294571531736346,
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+              0.23560931125148576,
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+              0.2477185032284366,
+              1.0437642556197861
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+              0.012109191976950845,
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+            "finger_midpoint_minus_object_z": 0.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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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": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_object_xy_range": 0.08621322988012114,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15386488272387058,
+            "release_required_pad_clearance": 0.05360569188437593,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2209493855133684,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008048951625823975,
+            "max_z_decrease": 0.008048951625823975,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035139456357529124,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008048951625823975,
+            "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": 0.021048354391118185,
+            "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": 0.008048951625823975,
+            "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": 0.008048964422686954,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1182082891464233,
+              -0.439588576555252,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1182082891464233,
+              -0.439588576555252,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11837667218933956,
+              -0.4378094282234239,
+              0.8076160852305397
+            ],
+            "closest_button": [
+              0.11819782108068465,
+              -0.43958264589309687,
+              0.7725218534469604
+            ],
+            "closest_ee_minus_button": [
+              0.00017885110865491216,
+              0.0017732176696729773,
+              0.03509423178357929
+            ],
+            "button_min_z_position": [
+              0.11819680780172345,
+              -0.439579963684082,
+              0.7687599062919617
+            ],
+            "min_active_finger_to_button": 0.14529795059539322,
+            "closest_active_finger": [
+              -0.00927424430847168,
+              -0.5002132058143616,
+              0.8107110261917114
+            ],
+            "closest_active_finger_button": [
+              0.11820972710847853,
+              -0.43958577513694763,
+              0.7763068675994873
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12748397141695023,
+              -0.06062743067741394,
+              0.03440415859222412
+            ],
+            "min_contact_pad_to_button": 0.021048354391118185,
+            "closest_contact_pad": [
+              0.11819680780172345,
+              -0.439579963684082,
+              0.7898082606830799
+            ],
+            "closest_contact_pad_button": [
+              0.11819680780172345,
+              -0.439579963684082,
+              0.7687599062919617
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021048354391118185
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8188baac5f74028c36d54e87df8ebc77d0a7b60591a8a09de05418c2a82f5afa",
+    "visual_seed": 7087789615003820241,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59ed9d1df8cd4dd171452741094da8d12ed97fb0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.1657195416580961,
+              0.25578171604993083,
+              1.0431429234470686
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+            "current_z": 1.0431429234470686,
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+            "lift_margin": 0.18655635643385815,
+            "gripper_z": 1.0488151388852018,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16122684505189003,
+              0.2511688450482708,
+              1.0488151388852018
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+              0.004492696606206076,
+              0.004612871001660024,
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+            "object_to_gripper_xy": 0.006439169331006255,
+            "object_to_gripper_z": -0.005672215438133232,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1657195416580961,
+              0.2318013072201766,
+              1.0431429234470686
+            ],
+            "finger_b": [
+              0.1541679117267087,
+              0.25578171604993083,
+              1.0431429234470686
+            ],
+            "finger_midpoint": [
+              0.15994372669240242,
+              0.24379151163505372,
+              1.0431429234470686
+            ],
+            "object_minus_finger_midpoint": [
+              0.005775814965693682,
+              0.01199020441487711,
+              0.0
+            ],
+            "finger_gap": 0.026617666346129578,
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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_to_finger_line_xy": 0.010407103492939194,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813508589882648,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9415625619704576,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.25665592300706586,
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+              1.2318993599390877
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008580342597202176,
+            "max_held_gripper_dist": 0.00858637574566878,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005776797884536888,
+            "max_held_gripper_z_dist": 0.005805422011821992,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08645771412006903,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.23609006026222068,
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+              0.2484912563824357,
+              1.2318993599390877
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+            "held_grasp_object_position": [
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+              0.2608924525026507,
+              1.2318993599390877
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26654603277579814,
+              -0.3797691186841118,
+              0.8470194739163809
+            ],
+            "target_position": [
+              0.26073273191334123,
+              -0.3813097370186011,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006013981357637121,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18648968584983708,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194739163809,
+            "min_z": 0.5730800627579278,
+            "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": 0.07583835922794763,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08570682534854494,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15397906171873446,
+            "release_required_pad_clearance": 0.052853412674272474,
+            "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": 0.7496450402803728,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008005261421203613,
+            "max_z_decrease": 0.008005261421203613,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512284306565693,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008005261421203613,
+            "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": 0.021082030020698417,
+            "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": 0.008005261421203613,
+            "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": 0.008005289331517304,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11643265932798384,
+              -0.43757119774818426,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11643265932798384,
+              -0.43757119774818426,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.116906432222288,
+              -0.43591146136093145,
+              0.8076047980867499
+            ],
+            "closest_button": [
+              0.11642335355281827,
+              -0.4375639855861664,
+              0.7725241780281067
+            ],
+            "closest_ee_minus_button": [
+              0.00048307866946972755,
+              0.0016525242252349304,
+              0.03508062005864321
+            ],
+            "button_min_z_position": [
+              0.11641179025173184,
+              -0.4375678300857544,
+              0.768803596496582
+            ],
+            "min_active_finger_to_button": 0.14508525412159115,
+            "closest_active_finger": [
+              -0.009353846311569214,
+              -0.5011038780212402,
+              0.8109052777290344
+            ],
+            "closest_active_finger_button": [
+              0.11643519997596738,
+              -0.43756797909736633,
+              0.7764083743095398
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1257890462875366,
+              -0.0635358989238739,
+              0.03449690341949463
+            ],
+            "min_contact_pad_to_button": 0.021082030020698417,
+            "closest_contact_pad": [
+              0.11641179025173184,
+              -0.4375678300857544,
+              0.7898856265172804
+            ],
+            "closest_contact_pad_button": [
+              0.11641179025173184,
+              -0.4375678300857544,
+              0.768803596496582
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021082030020698417
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2668fe00d41783caee48cb4f9c47696b3552b1bf74587e6934602de56f51d87",
+    "visual_seed": 3570862864880482104,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..234cff7e2aa83623d334453fc29368e7faf6e673
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.16646256149159921,
+              0.26129750596026013,
+              1.0433613274536542
+            ],
+            "current_z": 1.0433613274536542,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1867748200450886,
+            "gripper_z": 1.0486211940633092,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1617614211321629,
+              0.2567380792300038,
+              1.0486211940633092
+            ],
+            "object_minus_gripper": [
+              0.004701140359436307,
+              0.004559426730256333,
+              -0.005259866609655051
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+              0.11830235272645945,
+              -0.44321611523628235,
+              0.7686140537261963
+            ],
+            "closest_ee_minus_button": [
+              -0.00011178642307665965,
+              0.0014020655340976629,
+              0.03499247766647606
+            ],
+            "button_min_z_position": [
+              0.11830235272645945,
+              -0.44321611523628235,
+              0.7686140537261963
+            ],
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+            "closest_active_finger": [
+              -0.008400194346904755,
+              -0.5057295560836792,
+              0.8105047941207886
+            ],
+            "closest_active_finger_button": [
+              0.11828012764453882,
+              -0.4432364702224732,
+              0.7760564088821411
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12668032199144358,
+              -0.062493085861206,
+              0.03444838523864746
+            ],
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+            "closest_contact_pad": [
+              0.11830235272645945,
+              -0.44321611523628235,
+              0.7895558381011186
+            ],
+            "closest_contact_pad_button": [
+              0.11830235272645945,
+              -0.44321611523628235,
+              0.7686140537261963
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020941784374922334
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84af26478bd086e26240d20721ecc8f556ac4c3593954ecc91eb35238bf42488",
+    "visual_seed": 6984138234251144595,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1756cfe422fb5366cdb7a5bc76c3011dec677388
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.16621915462513467,
+              0.25742433545180504,
+              1.04510758781803
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+            "required_z": 0.8565865670132103,
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+            "lift_margin": 0.1885210208048197,
+            "gripper_z": 1.050796308262999,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1616281424572293,
+              0.2528668321629116,
+              1.050796308262999
+            ],
+            "object_minus_gripper": [
+              0.004591012167905362,
+              0.0045575032888934275,
+              -0.005688720444968931
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+            "object_to_gripper_z": -0.005688720444968931,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.16621915462513467,
+              0.23318344264920068,
+              1.04510758781803
+            ],
+            "finger_b": [
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+              0.25742433545180504,
+              1.04510758781803
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+            "finger_midpoint": [
+              0.16060563359690386,
+              0.24530388905050288,
+              1.04510758781803
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+              0.005613521028230817,
+              0.012120446401302165,
+              0.0
+            ],
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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_top_z": 1.0911783920674072,
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+            "object_projection_between_fingers": 0.8233820391740759,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048889418545498164,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2310690785401064,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "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_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.25851486347081765,
+              1.2409004717367047
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+              0.26277955779350415,
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008614229760933009,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005773793605542421,
+            "max_held_gripper_z_dist": 0.005803203871702189,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08633524353151056,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.23798870466289276,
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+              0.25038413122819847,
+              1.2351266781311623
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+            "held_grasp_object_position": [
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+              0.26277955779350415,
+              1.2351266781311623
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+            "held_grasp_finger_gap": 0.026717689217755747,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024493219280085358,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9993866152514068,
+              0.020559684231915006
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004634863228152229,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032671187806456996,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26927671220332083,
+              -0.3830566893695921,
+              0.847019741887534
+            ],
+            "target_position": [
+              0.2641105557453551,
+              -0.38421360955392087,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005294113415963867,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1837514762670637,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019741887534,
+            "min_z": 0.5730800627579278,
+            "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": 0.07590146436252707,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08716694953268185,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15133461702864606,
+            "release_required_pad_clearance": 0.05358347476634093,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1764496930479007,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0080680251121521,
+            "max_z_decrease": 0.0080680251121521,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514096374050016,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0080680251121521,
+            "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": 0.02100890705013092,
+            "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": 0.0080680251121521,
+            "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": 0.008068034691464323,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1198104843497276,
+              -0.44047507643699646,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1198104843497276,
+              -0.44047507643699646,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11820462523707492,
+              -0.4391006409824759,
+              0.8076528707439345
+            ],
+            "closest_button": [
+              0.11979999393224713,
+              -0.4404695928096771,
+              0.7725748419761658
+            ],
+            "closest_ee_minus_button": [
+              -0.0015953686951722112,
+              0.0013689518272012036,
+              0.035078028767768776
+            ],
+            "button_min_z_position": [
+              0.11981012672185896,
+              -0.44046264886856074,
+              0.7687408328056335
+            ],
+            "min_active_finger_to_button": 0.14702141389884524,
+            "closest_active_finger": [
+              -0.009529858827590942,
+              -0.501333475112915,
+              0.8106605410575867
+            ],
+            "closest_active_finger_button": [
+              0.11981118470430373,
+              -0.4404738545417785,
+              0.7762759923934937
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12934104353189468,
+              -0.06085962057113653,
+              0.03438454866409302
+            ],
+            "min_contact_pad_to_button": 0.02100890705013092,
+            "closest_contact_pad": [
+              0.11981012672185896,
+              -0.44046264886856074,
+              0.7897497398557645
+            ],
+            "closest_contact_pad_button": [
+              0.11981012672185896,
+              -0.44046264886856074,
+              0.7687408328056335
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02100890705013092
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e527928baa7801340d424bf494f4fda08ceb19608db9b96805c624fda5c150ee",
+    "visual_seed": 8428569155885407630,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef3e3e71bd06a8100cf263e103ef2c8bc143551e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.1685774859163712,
+              0.2607853049668963,
+              1.0434493813431869
+            ],
+            "current_z": 1.0434493813431869,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1868628739346213,
+            "gripper_z": 1.0488730846527572,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16368753080281762,
+              0.25609669498986887,
+              1.0488730846527572
+            ],
+            "object_minus_gripper": [
+              0.004889955113553585,
+              0.004688609977027414,
+              -0.005423703309570316
+            ],
+            "object_to_gripper_xy": 0.006774564526908711,
+            "object_to_gripper_z": -0.005423703309570316,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1685774859163712,
+              0.2362362213192993,
+              1.0434493813431869
+            ],
+            "finger_b": [
+              0.15729999048952728,
+              0.2607853049668963,
+              1.0434493813431869
+            ],
+            "finger_midpoint": [
+              0.16293873820294924,
+              0.24851076314309778,
+              1.0434493813431869
+            ],
+            "object_minus_finger_midpoint": [
+              0.00563874771342196,
+              0.012274541823798502,
+              0.0
+            ],
+            "finger_gap": 0.027015540176705682,
+            "fingertip_max_gap": 0.09384482749577264,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013507770088352852,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0434493813431869,
+            "object_top_z": 1.0896296771781664,
+            "finger_top_clearance": 0.04618029583497951,
+            "fingertip_min_top_clearance": 0.01385408875049387,
+            "object_projection_between_fingers": 0.8257398803369708,
+            "object_to_finger_line_xy": 0.010247886096599348,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04942241374788632,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9783561206841296,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+          }
+        },
+        "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
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c9a92b31e38a65009c0b89103458c9c5e8eed34fc026279dc34c8a857e445af4",
+    "visual_seed": 1253485063736116967,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f461ec8acdd66d03551a057365073029db2dc6b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.24853877738963776,
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+              0.0,
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+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.1527752545512944,
+            "release_required_pad_clearance": 0.052822717820037154,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6898346349547757,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008241772651672363,
+            "max_z_decrease": 0.008241772651672363,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502145384458162,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008241772651672363,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020978502730201177,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.008241772651672363,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008241806096295037,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12121342867612839,
+              -0.4393238127231598,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12121342867612839,
+              -0.4393238127231598,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12233222552279308,
+              -0.4395078889638102,
+              0.8036383390495447
+            ],
+            "closest_button": [
+              0.12122418731451036,
+              -0.439300149679184,
+              0.7686350345611572
+            ],
+            "closest_ee_minus_button": [
+              0.0011080382082827162,
+              -0.00020773928462619606,
+              0.03500330448838751
+            ],
+            "button_min_z_position": [
+              0.12121731042861938,
+              -0.4393006563186646,
+              0.7685670852661133
+            ],
+            "min_active_finger_to_button": 0.14473967874857133,
+            "closest_active_finger": [
+              -0.01853042095899582,
+              -0.4240992069244385,
+              0.8111672401428223
+            ],
+            "closest_active_finger_button": [
+              0.12121639400720596,
+              -0.43932029604911804,
+              0.7766894102096558
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13974681496620178,
+              0.015221089124679565,
+              0.034477829933166504
+            ],
+            "min_contact_pad_to_button": 0.020978502730201177,
+            "closest_contact_pad": [
+              0.12121731042861938,
+              -0.44063194628215413,
+              0.7895033037363665
+            ],
+            "closest_contact_pad_button": [
+              0.12121731042861938,
+              -0.4393006563186646,
+              0.7685670852661133
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013312899634895237,
+              0.020936218470253176
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "228f8bf454f8549cb2f25205a64829a372b4057f731dea0e72a6cdecf6a6d50a",
+    "visual_seed": 8930786865819211643,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..10cfd54d671b1917a878a671fb33b5ae8d8a3edc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.1659384856763637,
+              0.2585392973546665,
+              1.0439684188575602
+            ],
+            "current_z": 1.0439684188575602,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18738191144899463,
+            "gripper_z": 1.0494464428088524,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16149946151646935,
+              0.254065130584513,
+              1.0494464428088524
+            ],
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+              0.004439024159894361,
+              0.004474166770153498,
+              -0.005478023951292155
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+            "object_to_gripper_xy": 0.0063026267364704085,
+            "object_to_gripper_z": -0.005478023951292155,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1659384856763637,
+              0.2343855774091653,
+              1.0439684188575602
+            ],
+            "finger_b": [
+              0.15486969672050574,
+              0.2585392973546665,
+              1.0439684188575602
+            ],
+            "finger_midpoint": [
+              0.16040409119843474,
+              0.24646243738191592,
+              1.0439684188575602
+            ],
+            "object_minus_finger_midpoint": [
+              0.005534394477928972,
+              0.012076859972750598,
+              0.0
+            ],
+            "finger_gap": 0.026569160245574697,
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+            "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": 1.0439684188575602,
+            "object_top_z": 1.0901922742120367,
+            "finger_top_clearance": 0.046223855354476484,
+            "fingertip_min_top_clearance": 0.013867156606342928,
+            "object_projection_between_fingers": 0.8264420316460536,
+            "object_to_finger_line_xy": 0.010062509545072287,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895522815186065,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1225556334641762,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16488410789005725,
+              0.25999832034001036,
+              1.2375311421535637
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+            "held_position": [
+              0.16946075016850926,
+              0.2641940704661545,
+              1.2319493083560775
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008349062355061942,
+            "max_held_gripper_dist": 0.00835333043768502,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005581833797486224,
+            "max_held_gripper_z_dist": 0.005609886409669862,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860935997940317,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16946075016850926,
+              0.23950074634385768,
+              1.2319493083560775
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+            "held_grasp_finger_b": [
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+              0.2641940704661545,
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+            "held_grasp_midpoint": [
+              0.16457878348009727,
+              0.2518474084050061,
+              1.2319493083560775
+            ],
+            "held_grasp_object_position": [
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+              0.2641940704661545,
+              1.2319493083560775
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+            "held_grasp_finger_gap": 0.02655361842001695,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024384932956855995,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029822545409233844,
+              -0.9993032198155035,
+              0.022443053528473422
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+                "beaker_b"
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+                "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",
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+                "geometry",
+                "gripper",
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+                "joint1",
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+                "joint3",
+                "joint4",
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+                "joint7",
+                "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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+                "defaultgroundplane",
+                "desk",
+                "floor",
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+                "link0",
+                "table",
+                "wheel",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26238000492873276,
+              -0.3795476176284742,
+              0.8470197580180046
+            ],
+            "target_position": [
+              0.2575714597025915,
+              -0.3804488036555927,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004892263632238105,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1849392234301586,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197580180046,
+            "min_z": 0.5730800627579278,
+            "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": 0.07563780548205858,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866965115124063,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1529364790102922,
+            "release_required_pad_clearance": 0.05334825575620315,
+            "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": 1.7132169347912642,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007914245128631592,
+            "max_z_decrease": 0.007914245128631592,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508967015095809,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007914245128631592,
+            "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": 0.021152147733811213,
+            "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": 0.007914245128631592,
+            "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": 0.007914262153136498,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11327138543128965,
+              -0.43671026825904846,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11327138543128965,
+              -0.43671026825904846,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11286433630104573,
+              -0.43757209899077615,
+              0.8075518086627713
+            ],
+            "closest_button": [
+              0.11326285451650617,
+              -0.43670475482940674,
+              0.7724751234054565
+            ],
+            "closest_ee_minus_button": [
+              -0.00039851821546044164,
+              -0.00086734416136941,
+              0.03507668525731478
+            ],
+            "button_min_z_position": [
+              0.1132557615637779,
+              -0.43670523166656494,
+              0.768894612789154
+            ],
+            "min_active_finger_to_button": 0.14651139825854298,
+            "closest_active_finger": [
+              -0.02831951528787613,
+              -0.42176389694213867,
+              0.8109652996063232
+            ],
+            "closest_active_finger_button": [
+              0.11327300220727919,
+              -0.4367082715034485,
+              0.7764136791229248
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14159251749515533,
+              0.014944374561309814,
+              0.03455162048339844
+            ],
+            "min_contact_pad_to_button": 0.021152147733811213,
+            "closest_contact_pad": [
+              0.1132557615637779,
+              -0.438619734447545,
+              0.7899599405306015
+            ],
+            "closest_contact_pad_button": [
+              0.1132557615637779,
+              -0.43670523166656494,
+              0.768894612789154
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001914502780980043,
+              0.021065327741447426
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86b2a61cac099c3919dcbcaf799b42a6e7f74db0ff500e946ba897568380f340",
+    "visual_seed": 2007757402436667483,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ada71b7a5c7a9fdd5a3c9c15c7dd255e7c1aac9f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.1608952197512475,
+              0.25948919483598804,
+              1.0433024323492472
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+            "current_z": 1.0433024323492472,
+            "required_z": 0.8565866266178552,
+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.18671580573139201,
+            "gripper_z": 1.0488694794584017,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2551951626529364,
+              1.0488694794584017
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+              0.004255152314674049,
+              0.004294032183051633,
+              -0.005567047109154455
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+            "object_to_gripper_xy": 0.006045248846007837,
+            "object_to_gripper_z": -0.005567047109154455,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1608952197512475,
+              0.23533833126140924,
+              1.0433024323492472
+            ],
+            "finger_b": [
+              0.15031325479181556,
+              0.25948919483598804,
+              1.0433024323492472
+            ],
+            "finger_midpoint": [
+              0.15560423727153153,
+              0.24741376304869864,
+              1.0433024323492472
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+            ],
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+              0.1172002330422401,
+              -0.4386333525180817,
+              0.7768071889877319
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12582374364137644,
+              -0.06373563408851618,
+              0.03448903560638428
+            ],
+            "min_contact_pad_to_button": 0.020981353775437195,
+            "closest_contact_pad": [
+              0.11721168458461759,
+              -0.4386146068572999,
+              0.7896773638881996
+            ],
+            "closest_contact_pad_button": [
+              0.11721168458461759,
+              -0.4386146068572999,
+              0.7686960101127625
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020981353775437195
+            ]
+          },
+          "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": 6120436585598675838,
+    "physical_seed": 1711303898980266923,
+    "layout_id": "layout_00013",
+    "step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "workflow_spec_digest": "138c17f2ef80accd35aa4b08dc7d66d14dab8a48f43e9b349af9f9f599a57ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d3885929c06727a1051bda4af310980b34c77cd148b61f247247b3a5ef151b92",
+    "visual_seed": 2369993122894482069,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5975741771095771893,
+      3504213630932996537,
+      7867242958540830227,
+      6257227105719342557
+    ],
+    "runtime_workflow_digest": "afa608f7570223bfdae4b88ecd129f79de5c323e9b5cb108e6d97e8919451f81"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce8e85d31eecd45dde784693537bdcbc769f654
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00013/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.26450044194694183,
+              1.0426385420329134
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+            "gripper_z": 1.0481110184055944,
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+            "gripper_position": [
+              0.16091292485068864,
+              0.2600465998611366,
+              1.0481110184055944
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+              0.0044538420858052374,
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+            "object_to_gripper_z": -0.005472476372681001,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24062247258886,
+              1.0426385420329134
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+            "finger_b": [
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+              1.0426385420329134
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+            "finger_midpoint": [
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+              0.2525614572679009,
+              1.0426385420329134
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+              0.01193898467904092,
+              0.0
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2653650247289766,
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+              0.26947511359202353,
+              1.2333396357604984
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00824812340576676,
+            "max_held_gripper_dist": 0.008258328924225558,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005558841305988826,
+            "max_held_gripper_z_dist": 0.005588799937843447,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08652685842979502,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2447695521013386,
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+              0.25712233284668107,
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+            "held_grasp_object_position": [
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+              0.26947511359202353,
+              1.2333396357604984
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+            "held_grasp_finger_gap": 0.026509307787365242,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024200534186188696,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9985017474780915,
+              0.024963961961780072
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004210012718961735,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
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+}
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c0f63f7d573c6c388ae3a10e87827d23f51b4e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2299cf89bf083f16dea70f77e43f800b481e7f38
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_hte_00014
+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 b from home. Shake the current contents of
+    beaker b once. Place beaker b on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00014
+  reproducibility:
+    enabled: true
+    layout_id: layout_00014
+    action_seed: 6428506004157355875
+    step_seeds:
+    - 4947227672382490837
+    - 8216466612410408910
+    - 5552583258780378057
+    - 2540758795413753517
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1915
+      - 0.1915
+      'y':
+      - 0.0245
+      - 0.0245
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3234
+      - 0.3234
+      'y':
+      - 0.329
+      - 0.329
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3438
+      - 0.3438
+      'y':
+      - 0.1747
+      - 0.1747
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2232
+      - 0.2232
+      'y':
+      - -0.3241
+      - -0.3241
+      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_b
+    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: 0.3
+      gripper_distances: 0.019
+      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
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - 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_s04_pslr_hte_00014
+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_s04_pslr_hte_00014/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c92dda90701ab8a81899cd06a0cd4a90de110790
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
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+                "panda_leftfinger",
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+                "right_inner_finger",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur16e",
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+                "fr3_leftfinger",
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+                "gripper",
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+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                "wrist_2_joint",
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+                "fr3_leftfinger",
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+              "passed": true,
+              "source_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": 3,
+      "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": 0.007116198539733887,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035176714956792546,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007116198539733887,
+            "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": 0.02118918972703758,
+            "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": 0.007116198539733887,
+            "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": 0.007116208840626827,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13469991087913508,
+              -0.3773140609264374,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13469991087913508,
+              -0.3773140609264374,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1327940899298266,
+              -0.37877420048473953,
+              0.8064159399088054
+            ],
+            "closest_button": [
+              0.13469037413597107,
+              -0.377312034368515,
+              0.7713208198547363
+            ],
+            "closest_ee_minus_button": [
+              -0.0018962842061444607,
+              -0.001462166116224517,
+              0.03509512005406912
+            ],
+            "button_min_z_position": [
+              0.1346878558397293,
+              -0.3773129284381866,
+              0.7696926593780518
+            ],
+            "min_active_finger_to_button": 0.14762067452069388,
+            "closest_active_finger": [
+              -0.008253291249275208,
+              -0.3641050159931183,
+              0.8110814094543457
+            ],
+            "closest_active_finger_button": [
+              0.13470420241355893,
+              -0.37731608748435974,
+              0.7767232060432434
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14295749366283414,
+              0.013211071491241455,
+              0.034358203411102295
+            ],
+            "min_contact_pad_to_button": 0.02118918972703758,
+            "closest_contact_pad": [
+              0.1346878558397293,
+              -0.37982301464486506,
+              0.7907326505501848
+            ],
+            "closest_contact_pad_button": [
+              0.1346878558397293,
+              -0.3773129284381866,
+              0.7696926593780518
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025100862066784746,
+              0.021039991172133066
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "558885b1d1ccc072f5166b92b0135edde849c023486840d9dc944bd65675136b",
+    "visual_seed": 3684588729420086567,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..89e956f791c92c1f08a0dab03c8edf3fb0493a18
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35226018917949214,
+              0.3358334401238299,
+              1.0516694665122015
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+            "gripper_z": 1.0502232124722533,
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+            "gripper_position": [
+              0.346532796090146,
+              0.3306290304056895,
+              1.0502232124722533
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+              0.005727393089346167,
+              0.005204409718140401,
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+            "object_to_gripper_z": 0.001446254039948247,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31094107191783416,
+              1.0516694665122015
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+              0.3358334401238299,
+              1.0516694665122015
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+            "finger_midpoint": [
+              0.34608186423900644,
+              0.323387256020832,
+              1.0516694665122015
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+            "object_minus_finger_midpoint": [
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+              0.01244618410299786,
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+            "finger_gap": 0.027790588176283326,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04760306237656099,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3340517474484041,
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+              0.3387764326719853,
+              1.2394178572978591
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+            "object_initial_z": 0.7730800627579277,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007872067899814414,
+            "max_held_gripper_dist": 0.007873474521955241,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013200707169398473,
+            "max_held_gripper_z_dist": 0.0014549288345899747,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08929184329619655,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.31283646060158227,
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+              0.3258064466367838,
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+            "held_grasp_object_position": [
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+            "held_grasp_finger_gap": 0.02790148157634992,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024974833271691792,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9963614716858474,
+              0.009190535695125068
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004022736179861163,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.28885429076854324,
+              -0.3255169266874612,
+              0.8470192712814758
+            ],
+            "target_position": [
+              0.2805115653136171,
+              -0.3284364747569562,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008838825088571714,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18842093469485452,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192712814758,
+            "min_z": 0.5730800627579278,
+            "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": 0.0751855881905738,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08579034124742667,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1579117703206326,
+            "release_required_pad_clearance": 0.052895170623713336,
+            "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": 0.8299175104860377,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00721585750579834,
+            "max_z_decrease": 0.00721585750579834,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514732965783253,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00721585750579834,
+            "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": 0.02118947217957538,
+            "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": 0.00721585750579834,
+            "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": 0.007215876450789564,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13621148467063904,
+              -0.3846979439258575,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13621148467063904,
+              -0.3846979439258575,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1366907357189602,
+              -0.3857764213817205,
+              0.8082010965271677
+            ],
+            "closest_button": [
+              0.13619977235794067,
+              -0.38470232486724854,
+              0.7730736136436462
+            ],
+            "closest_ee_minus_button": [
+              0.0004909633610195308,
+              -0.0010740965144719894,
+              0.03512748288352141
+            ],
+            "button_min_z_position": [
+              0.13619495928287506,
+              -0.38469851016998285,
+              0.7695930004119873
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+            "min_active_finger_to_button": 0.14556016917991793,
+            "closest_active_finger": [
+              -0.00431157648563385,
+              -0.3682711720466614,
+              0.8104946613311768
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+            "closest_active_finger_button": [
+              0.13621124625205994,
+              -0.3846991956233978,
+              0.7762715816497803
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1405228227376938,
+              0.01642802357673645,
+              0.034223079681396484
+            ],
+            "min_contact_pad_to_button": 0.02118947217957538,
+            "closest_contact_pad": [
+              0.13619495928287506,
+              -0.3870191805337087,
+              0.7906550093454182
+            ],
+            "closest_contact_pad_button": [
+              0.13619495928287506,
+              -0.38469851016998285,
+              0.7695930004119873
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002320670363725852,
+              0.02106200893343091
+            ]
+          },
+          "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": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a8e15e218319c7072fafa13b091c0a8281d0f0ee22ec855ce2300965abc52216",
+    "visual_seed": 8335642538665463102,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9055ecafdab020c55201a01284e802c87e905c84
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.33273153944077083,
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+            "lift_margin": 0.19314951520390367,
+            "gripper_z": 1.048159970396651,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.34306337061626924,
+              0.32744775681499083,
+              1.048159970396651
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+              0.005948962949505421,
+              0.005283782625779998,
+              0.0015760522158181356
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+            "object_to_gripper_z": 0.0015760522158181356,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34901233356577466,
+              0.3076657765660077,
+              1.0497360226124692
+            ],
+            "finger_b": [
+              0.33656263323023977,
+              0.33273153944077083,
+              1.0497360226124692
+            ],
+            "finger_midpoint": [
+              0.34278748339800724,
+              0.32019865800338926,
+              1.0497360226124692
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+            "object_minus_finger_midpoint": [
+              0.006224850167767415,
+              0.012532881437381571,
+              0.0
+            ],
+            "finger_gap": 0.027987274017640083,
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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": 1.0497360226124692,
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+            "finger_top_clearance": 0.04609851251598074,
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+            "object_projection_between_fingers": 0.8021224172840119,
+            "object_to_finger_line_xy": 0.011150111878551904,
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+            ]
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+          "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": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "26b2e58130b57103a6fb26aac7d4fbd98f4c2e20bf014df2109c258ad28965b3",
+    "visual_seed": 814621029331357494,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bb116d820b8d48cb3d266da0b19e086594ea179
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.3364229757962721,
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+              0.00525971541635345,
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+              0.3239005746241733,
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+            "stable_success_frames": 232,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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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,
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+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561872682275507,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646548547662135,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15628141183416688,
+            "release_required_pad_clearance": 0.053232742738310676,
+            "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": 1.4861895963688325,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007202804088592529,
+            "max_z_decrease": 0.007202804088592529,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035139551197322205,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007202804088592529,
+            "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": 0.02109975107857321,
+            "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": 0.007202804088592529,
+            "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": 0.007202826339863882,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13651956617832184,
+              -0.3755242526531219,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13651956617832184,
+              -0.3755242526531219,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13778625388201987,
+              -0.37537155776865877,
+              0.8080018198866901
+            ],
+            "closest_button": [
+              0.13650833070278168,
+              -0.37552732229232777,
+              0.7728858590126038
+            ],
+            "closest_ee_minus_button": [
+              0.001277923179238194,
+              0.00015576452366899973,
+              0.035115960874086305
+            ],
+            "button_min_z_position": [
+              0.13650168478488925,
+              -0.37552514672279347,
+              0.7696060538291931
+            ],
+            "min_active_finger_to_button": 0.14495582660552508,
+            "closest_active_finger": [
+              -0.003508448600769043,
+              -0.3603888750076294,
+              0.8108841180801392
+            ],
+            "closest_active_finger_button": [
+              0.13651961088180542,
+              -0.3755252361297607,
+              0.776602566242218
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14002805948257446,
+              0.015136361122131292,
+              0.03428155183792114
+            ],
+            "min_contact_pad_to_button": 0.02109975107857321,
+            "closest_contact_pad": [
+              0.13650168478488925,
+              -0.37639697555299695,
+              0.7906877854959367
+            ],
+            "closest_contact_pad_button": [
+              0.13650168478488925,
+              -0.37552514672279347,
+              0.7696060538291931
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008718288302034805,
+              0.02108173166674354
+            ]
+          },
+          "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": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ecc803373d09a9a59fe877d86bcb97d9301252797651837acbf0d55564d10ed3",
+    "visual_seed": 7049545397196302681,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb82afb4a77a333f92a6cf52f30fdca6e4e1fb61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3453934104955654,
+              0.3328800967999185,
+              1.049315354435251
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+            "lift_margin": 0.1927287278173957,
+            "gripper_z": 1.048703014943467,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33939796522373145,
+              0.32759266779098317,
+              1.048703014943467
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+              0.005995445271833932,
+              0.005287429008935307,
+              0.0006123394917838532
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+            "object_to_gripper_xy": 0.007993889512126526,
+            "object_to_gripper_z": 0.0006123394917838532,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3453934104955654,
+              0.3077577208765808,
+              1.049315354435251
+            ],
+            "finger_b": [
+              0.33297091473045987,
+              0.3328800967999185,
+              1.049315354435251
+            ],
+            "finger_midpoint": [
+              0.3391821626130126,
+              0.32031890883824965,
+              1.049315354435251
+            ],
+            "object_minus_finger_midpoint": [
+              0.006211247882552784,
+              0.01256118796166883,
+              0.0
+            ],
+            "finger_gap": 0.028025919664973708,
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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": 1.0949939619815023,
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+            "object_projection_between_fingers": 0.8035292200779349,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853481030091579,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0935145852374455,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+    "visual_seed": 1846763005916102297,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6697a77bb8ecd0f8d727b36b54532d44eaf3ef81
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              0.3012264568541509,
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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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": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+            "policy": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "ground",
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+        "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": 3,
+      "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": 0.007382750511169434,
+            "max_z_decrease": 0.007382750511169434,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513520598362703,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007382750511169434,
+            "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": 0.021054353592656266,
+            "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": 0.007382750511169434,
+            "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": 0.007382776273575233,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13527520000934598,
+              -0.3842633068561554,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13527520000934598,
+              -0.3842633068561554,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13361566557578525,
+              -0.38384498805619566,
+              0.8078659027311825
+            ],
+            "closest_button": [
+              0.1352637857198715,
+              -0.3842657208442688,
+              0.7727718949317932
+            ],
+            "closest_ee_minus_button": [
+              -0.0016481201440862459,
+              0.0004207327880731415,
+              0.035094007799389315
+            ],
+            "button_min_z_position": [
+              0.13525572419166565,
+              -0.3842622637748718,
+              0.7694261074066162
+            ],
+            "min_active_finger_to_button": 0.14742023088784073,
+            "closest_active_finger": [
+              0.006264030933380127,
+              -0.4468581974506378,
+              0.8106899261474609
+            ],
+            "closest_active_finger_button": [
+              0.13527478277683255,
+              -0.38426491618156433,
+              0.7764695882797241
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12901075184345243,
+              -0.06259328126907349,
+              0.034220337867736816
+            ],
+            "min_contact_pad_to_button": 0.021054353592656266,
+            "closest_contact_pad": [
+              0.13525572419166565,
+              -0.3849999873835175,
+              0.7904675324791213
+            ],
+            "closest_contact_pad_button": [
+              0.13525572419166565,
+              -0.3842622637748718,
+              0.7694261074066162
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007377236086456573,
+              0.02104142507250506
+            ]
+          },
+          "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": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4915b645ffd745a9dc9841df5f33292091e30b5dafbdb0477ab81ed8391384ad",
+    "visual_seed": 5259439561975104175,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0df0e772dc0b7773ff426116c1dc30e925226f38
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_105_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35033152810385576,
+              0.3300193648373211,
+              1.0513558614810667
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+            "current_z": 1.0513558614810667,
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+            "gripper_z": 1.0507073608077484,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34437221613399405,
+              0.32480512620052004,
+              1.0507073608077484
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+              0.005959311969861714,
+              0.0052142386368010385,
+              0.0006485006733183418
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+            "object_to_gripper_z": 0.0006485006733183418,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.35033152810385576,
+              0.30486632002921105,
+              1.0513558614810667
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+            "finger_b": [
+              0.3380895315253785,
+              0.3300193648373211,
+              1.0513558614810667
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+            "finger_midpoint": [
+              0.34421052981461714,
+              0.31744284243326604,
+              1.0513558614810667
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+              0.006120998289238622,
+              0.012576522404055046,
+              0.0
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+            "finger_gap": 0.027973954731968804,
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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": 0.04857368711785166,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3505307631002524,
+              0.328968391452115,
+              1.239411041912522
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+              0.3338154160529362,
+              1.2399628276724435
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007944583947863341,
+            "max_held_gripper_dist": 0.007946139650672404,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0005517857599215414,
+            "max_held_gripper_z_dist": 0.0006690824704174148,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08967097412064173,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.3079278960732358,
+              1.2399628276724435
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+              0.320871656063086,
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+            "held_grasp_object_position": [
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+              0.3338154160529362,
+              1.2399628276724435
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+            "held_grasp_finger_gap": 0.02801904913967044,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025402159948458524,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04285847220301516,
+              -0.9989976966816362,
+              0.012913302645306768
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004802937267931056,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032039732107519495,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.283569766662817,
+              -0.3198718854671119,
+              0.8470195454889604
+            ],
+            "target_position": [
+              0.27637612704307246,
+              -0.32279645110649013,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0077654063098971425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1884759198693427,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195454889604,
+            "min_z": 0.5730800627579278,
+            "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": 0.07547923803524828,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08679370920840178,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15712727277902433,
+            "release_required_pad_clearance": 0.05339685460420089,
+            "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": 1.8087782588793524,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007186710834503174,
+            "max_z_decrease": 0.007186710834503174,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035156677142538666,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007186710834503174,
+            "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": 0.02126830019987416,
+            "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": 0.007186710834503174,
+            "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": 0.007186728691901784,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13207605481147766,
+              -0.379057914018631,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13207605481147766,
+              -0.379057914018631,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13227753906842107,
+              -0.38094091136240454,
+              0.8080727273438115
+            ],
+            "closest_button": [
+              0.13206890225410461,
+              -0.37905964255332947,
+              0.7729670405387878
+            ],
+            "closest_ee_minus_button": [
+              0.00020863681431645964,
+              -0.0018812688090750762,
+              0.035105686805023684
+            ],
+            "button_min_z_position": [
+              0.13206003606319427,
+              -0.3790581822395324,
+              0.7696221470832825
+            ],
+            "min_active_finger_to_button": 0.14580576771234174,
+            "closest_active_finger": [
+              -0.008971691131591797,
+              -0.3654443919658661,
+              0.8110413551330566
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+            "closest_active_finger_button": [
+              0.13207949697971344,
+              -0.37905755639076233,
+              0.776711106300354
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14105118811130524,
+              0.01361316442489624,
+              0.03433024883270264
+            ],
+            "min_contact_pad_to_button": 0.02126830019987416,
+            "closest_contact_pad": [
+              0.13206003606319427,
+              -0.38198999500760894,
+              0.7906874044347821
+            ],
+            "closest_contact_pad_button": [
+              0.13206003606319427,
+              -0.3790581822395324,
+              0.7696221470832825
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002931812768076525,
+              0.021065257351499667
+            ]
+          },
+          "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": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "95e4d06d2b8979e72e6ff0e960a1d6ea39b7580ce1bc8d07e26a4ec378dcc65e",
+    "visual_seed": 7974549505748928408,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb0cd054dcb6fec6ebdbf905bb3c90067b80dfd5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.33685244656565805,
+              1.0496974789518267
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+            "lift_margin": 0.19311085233397152,
+            "gripper_z": 1.0488801410316584,
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+            "gripper_position": [
+              0.347083405013018,
+              0.3315733019954041,
+              1.0488801410316584
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+              0.006001910544690958,
+              0.0052791445702539685,
+              0.0008173379201683595
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+            "object_to_gripper_z": 0.0008173379201683595,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35308531555770895,
+              0.31171929878603444,
+              1.0496974789518267
+            ],
+            "finger_b": [
+              0.34068436583355544,
+              0.33685244656565805,
+              1.0496974789518267
+            ],
+            "finger_midpoint": [
+              0.3468848406956322,
+              0.32428587267584624,
+              1.0496974789518267
+            ],
+            "object_minus_finger_midpoint": [
+              0.006200474862076755,
+              0.012566573889811805,
+              0.0
+            ],
+            "finger_gap": 0.028026035598589075,
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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": 1.0496974789518267,
+            "object_top_z": 1.095611576786748,
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+            "object_projection_between_fingers": 0.8042117813887127,
+            "object_to_finger_line_xy": 0.011120905806618047,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04872409715858421,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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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": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b0e2a597aa5a6d43c2e4d7b6b87f79be69279775d29f143bb64cec586aa0fe02",
+    "visual_seed": 2522441214703714132,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cae8e1251777aa2aed47ce37778227ba991f5fa0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_107_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.3302649783555334,
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+              0.34447516095717085,
+              0.32498071802936623,
+              1.0505831056591142
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+              0.0052842603261671894,
+              0.0006319013263316187
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+              0.3176968956293054,
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+              0.012568082726228003,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852158493614815,
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+            "object_upright_reference_source": "scene_initial",
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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": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                },
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+                  "b": "/World/target_beaker/mesh"
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.0005340781249332238,
+            "max_held_gripper_z_dist": 0.0006556015504781687,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+          }
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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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+    },
+    {
+      "step_index": 2,
+      "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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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "release_finger_gap": 0.07547131184206485,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564046475523206,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15844586787805737,
+            "release_required_pad_clearance": 0.05282023237761603,
+            "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": 0.6852813109229628,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007309019565582275,
+            "max_z_decrease": 0.007309019565582275,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512839095494501,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007309019565582275,
+            "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": 0.021211302323655847,
+            "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": 0.007309019565582275,
+            "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": 0.0073090394102716914,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13266023993492126,
+              -0.38076475262641907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13266023993492126,
+              -0.38076475262641907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13268555465954146,
+              -0.38232036055191526,
+              0.8077608127553846
+            ],
+            "closest_button": [
+              0.1326485574245453,
+              -0.3807640969753265,
+              0.7726669311523438
+            ],
+            "closest_ee_minus_button": [
+              3.6997234996172246e-05,
+              -0.001556263576588779,
+              0.03509388160304083
+            ],
+            "button_min_z_position": [
+              0.1326432079076767,
+              -0.3807647228240967,
+              0.7694998383522034
+            ],
+            "min_active_finger_to_button": 0.1460196661648818,
+            "closest_active_finger": [
+              -0.008743084967136383,
+              -0.3687800168991089,
+              0.8109779357910156
+            ],
+            "closest_active_finger_button": [
+              0.1326604187488556,
+              -0.38076543807983393,
+              0.7765811085700989
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14140350371599197,
+              0.011985421180725042,
+              0.03439682722091675
+            ],
+            "min_contact_pad_to_button": 0.021211302323655847,
+            "closest_contact_pad": [
+              0.1326432079076767,
+              -0.383189810421422,
+              0.790572054571928
+            ],
+            "closest_contact_pad_button": [
+              0.1326432079076767,
+              -0.3807647228240967,
+              0.7694998383522034
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024250875973252928,
+              0.02107221621972466
+            ]
+          },
+          "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": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7eee31aa632c3500425114803f162390f46f986a59dbbdab129b015e2bc96f4c",
+    "visual_seed": 6113022170254699334,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..383c01b999bfe16cd5a726e15f7fe3c3a836be3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_108_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3527496360205611,
+              0.3368853471277745,
+              1.0516485962698667
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+            "current_z": 1.0516485962698667,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19506220807059071,
+            "gripper_z": 1.0498164018178842,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34720596178650465,
+              0.33171498023664336,
+              1.0498164018178842
+            ],
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+              0.005543674234056439,
+              0.005170366891131151,
+              0.0018321944519825717
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+            "object_to_gripper_xy": 0.0075805684352986645,
+            "object_to_gripper_z": 0.0018321944519825717,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3527496360205611,
+              0.31219876618961034,
+              1.0516485962698667
+            ],
+            "finger_b": [
+              0.34034867671746727,
+              0.3368853471277745,
+              1.0516485962698667
+            ],
+            "finger_midpoint": [
+              0.3465491563690142,
+              0.3245420566586924,
+              1.0516485962698667
+            ],
+            "object_minus_finger_midpoint": [
+              0.0062004796515469085,
+              0.012343290469082113,
+              0.0
+            ],
+            "finger_gap": 0.027626274994170308,
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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": 1.0516485962698667,
+            "object_top_z": 1.0969865826873915,
+            "finger_top_clearance": 0.045337986417524734,
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+            "object_projection_between_fingers": 0.7985042438834055,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478131722209275,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.40360337178030814,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
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+      5552583258780378057,
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+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aa3892e8613dcd670cd83cc08903e431f10c043
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_109_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.330109184219774,
+              1.0523057300361625
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+              0.3248966861373124,
+              1.0510410749701056
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+              0.005212498082461603,
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+            "object_to_gripper_z": 0.0012646550660568856,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30531298457390194,
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+              1.0523057300361625
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+              0.31771108439683793,
+              1.0523057300361625
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+              0.012398099822936048,
+              0.0
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+            "finger_midpoint_minus_object_z": 0.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
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+          }
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+        "post_done_wait_exhausted": false
+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.32780815957399284,
+              1.2410126694700911
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+              0.3324586114864035,
+              1.242176283016767
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+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007842454694540386,
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+              0.31944586219841764,
+              1.242176283016767
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+              0.3324586114864035,
+              1.242176283016767
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9951137290294324,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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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"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_required_pad_clearance": 0.053124929234832655,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.2759292309481418,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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",
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+              ],
+              "enabled": true
+            },
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+            "forbidden": [],
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+    },
+    {
+      "step_index": 3,
+      "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": 0.007173299789428711,
+            "max_z_decrease": 0.007173299789428711,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035122061177396406,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007173299789428711,
+            "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": 0.021141412127158973,
+            "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": 0.007173299789428711,
+            "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": 0.007173323358874662,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13095583021640772,
+              -0.38182967901229853,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13095583021640772,
+              -0.38182967901229853,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13023227101276125,
+              -0.38243358766707003,
+              0.8080510485830998
+            ],
+            "closest_button": [
+              0.1309450268745422,
+              -0.3818333446979522,
+              0.7729413509368896
+            ],
+            "closest_ee_minus_button": [
+              -0.0007127558617809615,
+              -0.0006002429691178146,
+              0.03510969764621019
+            ],
+            "button_min_z_position": [
+              0.13093744218349454,
+              -0.3818295300006866,
+              0.7696355581283569
+            ],
+            "min_active_finger_to_button": 0.14678548549364875,
+            "closest_active_finger": [
+              -0.010747067630290985,
+              -0.3647701144218445,
+              0.8109424114227295
+            ],
+            "closest_active_finger_button": [
+              0.13095681369304651,
+              -0.3818307816982269,
+              0.7766652703285217
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1417038813233375,
+              0.01706066727638239,
+              0.034277141094207764
+            ],
+            "min_contact_pad_to_button": 0.021141412127158973,
+            "closest_contact_pad": [
+              0.13093744218349454,
+              -0.3837260605875939,
+              0.7906917324832418
+            ],
+            "closest_contact_pad_button": [
+              0.13093744218349454,
+              -0.3818295300006866,
+              0.7696355581283569
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001896530586907308,
+              0.021056174354884827
+            ]
+          },
+          "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": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c99fe233f5ea7d70b7b143203964ac7dda42a32205ae515388ae003200f64843",
+    "visual_seed": 430045638840658400,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..15de90c354a684c70bc69bb431fe4dcd55347352
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_110_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3463444544829735,
+              0.3337173524253528,
+              1.0499200086062435
+            ],
+            "current_z": 1.0499200086062435,
+            "required_z": 0.8565865074085656,
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+            "lift_margin": 0.1933335011976779,
+            "gripper_z": 1.0492452848499163,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34037831974203103,
+              0.3284693639987687,
+              1.0492452848499163
+            ],
+            "object_minus_gripper": [
+              0.005966134740942486,
+              0.005247988426584083,
+              0.0006747237563271558
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+            "object_to_gripper_xy": 0.007945825713709139,
+            "object_to_gripper_z": 0.0006747237563271558,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3463444544829735,
+              0.30863649986065606,
+              1.0499200086062435
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+              0.3339568918904003,
+              0.3337173524253528,
+              1.0499200086062435
+            ],
+            "finger_midpoint": [
+              0.3401506731866869,
+              0.3211769261430044,
+              1.0499200086062435
+            ],
+            "object_minus_finger_midpoint": [
+              0.006193781296286616,
+              0.01254042628234836,
+              0.0
+            ],
+            "finger_gap": 0.02797321705412114,
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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_center_z_for_grasp": 1.0499200086062435,
+            "object_top_z": 1.096005202563393,
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+            "object_projection_between_fingers": 0.8038958007513688,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049033137022665055,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3856267164878089,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3327867757688943,
+              1.2383710295122696
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+              0.3376546399292601,
+              1.2389521310820344
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007974107861620056,
+            "max_held_gripper_dist": 0.007977186193925805,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0005811015697647637,
+            "max_held_gripper_z_dist": 0.0006918082257509894,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08876293024372717,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.31179980819142644,
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+              0.32472722406034327,
+              1.2389521310820344
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+            "held_grasp_object_position": [
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+              0.3376546399292601,
+              1.2389521310820344
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+            "held_grasp_finger_gap": 0.02803014584433463,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025398992041454026,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03990093056200786,
+              -0.9990777141138394,
+              0.01586306721134012
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0048975743904840436,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032068734795105,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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",
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+              ],
+              "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.28211296143689496,
+              -0.3214878543897565,
+              0.8470195895883332
+            ],
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+              0.2743408921406562,
+              -0.3245434193424489,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008351139941688145,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867401805023465,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195895883332,
+            "min_z": 0.5730800627579278,
+            "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": 0.07527161234683773,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572124702377669,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1559583806915767,
+            "release_required_pad_clearance": 0.05286062351188835,
+            "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": 0.763097243979057,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007080018520355225,
+            "max_z_decrease": 0.007080018520355225,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513887416565967,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007080018520355225,
+            "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": 0.02108400552660805,
+            "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": 0.007080018520355225,
+            "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": 0.0070800373870470125,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13004082441329953,
+              -0.3808048665523529,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13004082441329953,
+              -0.3808048665523529,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13045106599277032,
+              -0.37946827092996793,
+              0.8081269162288847
+            ],
+            "closest_button": [
+              0.130031943321228,
+              -0.38080650568008423,
+              0.7730160355567932
+            ],
+            "closest_ee_minus_button": [
+              0.00041912267154231575,
+              0.0013382347501162961,
+              0.03511088067209145
+            ],
+            "button_min_z_position": [
+              0.13002449274063105,
+              -0.38080552220344543,
+              0.7697288393974304
+            ],
+            "min_active_finger_to_button": 0.14523907701126362,
+            "closest_active_finger": [
+              0.002923816442489624,
+              -0.44213467836380005,
+              0.8110145926475525
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+            "closest_active_finger_button": [
+              0.13004513084888453,
+              -0.3808037340641022,
+              0.7767643928527832
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271213144063949,
+              -0.061330944299697876,
+              0.03425019979476929
+            ],
+            "min_contact_pad_to_button": 0.02108400552660805,
+            "closest_contact_pad": [
+              0.13002449274063105,
+              -0.38080552220344543,
+              0.7908128449240385
+            ],
+            "closest_contact_pad_button": [
+              0.13002449274063105,
+              -0.38080552220344543,
+              0.7697288393974304
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108400552660805
+            ]
+          },
+          "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": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6d01d18918730b293b6ce98ffa2d7cff13f48feb9d9a9ee327b551be5630c925",
+    "visual_seed": 480564400066713520,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e71b76cf9c15957e18fb9118a00cd2850852e10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_111_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+              0.3302758912838507,
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+            "lift_margin": 0.19278508382813386,
+            "gripper_z": 1.0492422213226922,
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+            "gripper_position": [
+              0.33910886338753765,
+              0.32507354951559625,
+              1.0492422213226922
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+              0.005993497118179425,
+              0.005202341768254459,
+              0.00012948912329679985
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+            "object_to_gripper_z": 0.00012948912329679985,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3451023605057171,
+              0.30506297543689725,
+              1.049371710445989
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+            "finger_b": [
+              0.3329243590279348,
+              0.3302758912838507,
+              1.049371710445989
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+            "finger_midpoint": [
+              0.33901335976682595,
+              0.317669433360374,
+              1.049371710445989
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+              0.006089000738891126,
+              0.0126064579234767,
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+            ],
+            "finger_gap": 0.0279999079551777,
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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": 1.0946589290906892,
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+            "object_projection_between_fingers": 0.8108358481635388,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048014025444354,
+            "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
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+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "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_b",
+              "held_object": null,
+              "allowed_objects": [
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a6aba9358ac42a9f4db91509208a33de198847670cef15d290ea905fabc084c8",
+    "visual_seed": 6933185441193179138,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4725ef1f016323aaf82f57f441788e4802149b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_112_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.33246491008944457,
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+              0.32727445133065663,
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+              0.3201230415569505,
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+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
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+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
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+              ],
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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": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.15694870989509466,
+            "release_required_pad_clearance": 0.05326890033712896,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5571724928143842,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007023811340332031,
+            "max_z_decrease": 0.007023811340332031,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035168580847241206,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007023811340332031,
+            "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": 0.021143112921538396,
+            "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": 0.007023811340332031,
+            "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": 0.007023831397248658,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1290931701660156,
+              -0.3769974410533905,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1290931701660156,
+              -0.3769974410533905,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1311507423728281,
+              -0.3774890602344554,
+              0.80818309246417
+            ],
+            "closest_button": [
+              0.1290878057479858,
+              -0.37699809670448303,
+              0.7730785012245178
+            ],
+            "closest_ee_minus_button": [
+              0.0020629366248422765,
+              -0.0004909635299723547,
+              0.03510459123965215
+            ],
+            "button_min_z_position": [
+              0.1290763914585113,
+              -0.3769979178905487,
+              0.7697850465774536
+            ],
+            "min_active_finger_to_button": 0.14417146412351475,
+            "closest_active_finger": [
+              -0.010221801698207855,
+              -0.36305132508277893,
+              0.8106386661529541
+            ],
+            "closest_active_finger_button": [
+              0.12909290194511408,
+              -0.3769981861114502,
+              0.7762539386749268
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13931470364332194,
+              0.013946861028671265,
+              0.034384727478027344
+            ],
+            "min_contact_pad_to_button": 0.021143112921538396,
+            "closest_contact_pad": [
+              0.1290763914585113,
+              -0.37843873580738085,
+              0.7908790094043731
+            ],
+            "closest_contact_pad_button": [
+              0.1290763914585113,
+              -0.3769979178905487,
+              0.7697850465774536
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014408179168321489,
+              0.021093962826919443
+            ]
+          },
+          "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": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12d79a01575f211769ec33b8eacb6aa94c79ad544357a005e290feb543622f54",
+    "visual_seed": 4491227315221699275,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_113_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e594fe0237c663da5c90890530f6dbcc019d36b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_113_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3532912483927415,
+              0.327409579564615,
+              1.0503866208894903
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+            "gripper_z": 1.0490727649496532,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34761045944545244,
+              0.3221919423751128,
+              1.0490727649496532
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+              0.005680788947289073,
+              0.005217637189502244,
+              0.0013138559398371275
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+            "object_to_gripper_z": 0.0013138559398371275,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3532912483927415,
+              0.3026530306365477,
+              1.0503866208894903
+            ],
+            "finger_b": [
+              0.3407730720172387,
+              0.327409579564615,
+              1.0503866208894903
+            ],
+            "finger_midpoint": [
+              0.3470321602049901,
+              0.31503130510058136,
+              1.0503866208894903
+            ],
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+              0.006259088187751394,
+              0.012378274464033667,
+              0.0
+            ],
+            "finger_gap": 0.027741511397110074,
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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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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35417988344169365,
+              0.3253919776326614,
+              1.2365598383090373
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+            "held_position": [
+              0.3603515890751626,
+              0.33005317934912454,
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+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
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+        "skill": "shake",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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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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+              0.2860196083721601,
+              -0.32393636186957675,
+              0.8470193271293668
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+              0.2794053679176766,
+              -0.3260984193556201,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006958639907530944,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18631352265643403,
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+            "gripper_away_ok": true,
+            "object_z": 0.8470193271293668,
+            "min_z": 0.5730800627579278,
+            "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": 0.07561610099992816,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3189789206659611,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00708693265914917,
+            "max_z_decrease": 0.00708693265914917,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514324186312138,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00708693265914917,
+            "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": 0.021130683982783803,
+            "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": 0.00708693265914917,
+            "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": 0.007086958012345708,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13510529696941376,
+              -0.382359892129898,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13510529696941376,
+              -0.382359892129898,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13613651534576302,
+              -0.3828207210961104,
+              0.8082783124585764
+            ],
+            "closest_button": [
+              0.13509541749954224,
+              -0.38236248493194575,
+              0.7731534838676453
+            ],
+            "closest_ee_minus_button": [
+              0.0010410978462207787,
+              -0.0004582361641646271,
+              0.035124828590931134
+            ],
+            "button_min_z_position": [
+              0.13508634269237518,
+              -0.38236019015312184,
+              0.7697219252586365
+            ],
+            "min_active_finger_to_button": 0.14511535752724558,
+            "closest_active_finger": [
+              -0.0049856677651405334,
+              -0.3662470579147339,
+              0.8106169700622559
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+            "closest_active_finger_button": [
+              0.13510483503341675,
+              -0.382360965013504,
+              0.7763611674308777
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14009050279855728,
+              0.016113907098770086,
+              0.034255802631378174
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+            "min_contact_pad_to_button": 0.021130683982783803,
+            "closest_contact_pad": [
+              0.13508634269237518,
+              -0.3839708368467822,
+              0.7907911355620265
+            ],
+            "closest_contact_pad_button": [
+              0.13508634269237518,
+              -0.38236019015312184,
+              0.7697219252586365
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016106466936603447,
+              0.02106921030339004
+            ]
+          },
+          "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": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37c1cc0b389b160ce1da14a0f8d77d00e7f2b6563dbbe86ee8f9ecf8fbaacb5a",
+    "visual_seed": 4277437042585578061,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0072e933eff389e1072b943bd5adeb4524aa4880
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
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+            "min_ee_to_button": 0.03517958612405649,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006971120834350586,
+            "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": 0.02106661460630166,
+            "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": 0.006971120834350586,
+            "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": 0.006971136804719583,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12905661761760712,
+              -0.37600487470626826,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12905661761760712,
+              -0.37600487470626826,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1273411117546874,
+              -0.37461699518615205,
+              0.8072920533982563
+            ],
+            "closest_button": [
+              0.1290445774793625,
+              -0.3760033547878265,
+              0.7721810936927795
+            ],
+            "closest_ee_minus_button": [
+              -0.001703465724675085,
+              0.0013863596016744362,
+              0.03511095970547673
+            ],
+            "button_min_z_position": [
+              0.12904170155525208,
+              -0.3760052919387816,
+              0.7698377370834351
+            ],
+            "min_active_finger_to_button": 0.14698797843232192,
+            "closest_active_finger": [
+              -0.000687427818775177,
+              -0.4359946548938751,
+              0.8108094930648804
+            ],
+            "closest_active_finger_button": [
+              0.12905709445476532,
+              -0.3760065138339995,
+              0.7765567898750305
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1297445222735405,
+              -0.0599881410598756,
+              0.034252703189849854
+            ],
+            "min_contact_pad_to_button": 0.02106661460630166,
+            "closest_contact_pad": [
+              0.12904170155525208,
+              -0.3760052919387816,
+              0.7909043516897367
+            ],
+            "closest_contact_pad_button": [
+              0.12904170155525208,
+              -0.3760052919387816,
+              0.7698377370834351
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106661460630166
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "742f65c7bf5ea9c65eb5e3267cef74c9f373fd2de86d7b6e9f0cc08d3cf34e9a",
+    "visual_seed": 2920829197968423280,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e4689c6d9eb5cf316ab5f5b61c20dfb8d82289b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34521480350700495,
+              0.33510011133984463,
+              1.0498599874448964
+            ],
+            "current_z": 1.0498599874448964,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19327348003633082,
+            "gripper_z": 1.049572426208318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3391976658036864,
+              0.3298137432958624,
+              1.049572426208318
+            ],
+            "object_minus_gripper": [
+              0.006017137703318576,
+              0.005286368043982248,
+              0.00028756123657847077
+            ],
+            "object_to_gripper_xy": 0.008009471470523798,
+            "object_to_gripper_z": 0.00028756123657847077,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34521480350700495,
+              0.30993296262566045,
+              1.0498599874448964
+            ],
+            "finger_b": [
+              0.3328335343515304,
+              0.33510011133984463,
+              1.0498599874448964
+            ],
+            "finger_midpoint": [
+              0.3390241689292677,
+              0.3225165369827525,
+              1.0498599874448964
+            ],
+            "object_minus_finger_midpoint": [
+              0.006190634577737275,
+              0.01258357435709212,
+              0.0
+            ],
+            "finger_gap": 0.02804783771170548,
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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": 1.0498599874448964,
+            "object_top_z": 1.095236584908351,
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+            "fingertip_min_top_clearance": 0.013612979239036371,
+            "object_projection_between_fingers": 0.8051360248072233,
+            "object_to_finger_line_xy": 0.011109635092338171,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815095899812451,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0362754882137502,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3453958113832841,
+              0.33366287418487484,
+              1.2400511039255617
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+            "held_position": [
+              0.35176113786319624,
+              0.33854200558926006,
+              1.2402683562148697
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008023123021264109,
+            "max_held_gripper_dist": 0.008024401302643891,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002172522893080231,
+            "max_held_gripper_z_dist": 0.0003346140860449598,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08877600091057081,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35176113786319624,
+              0.31254683520534937,
+              1.2402683562148697
+            ],
+            "held_grasp_finger_b": [
+              0.34100281233814345,
+              0.33854200558926006,
+              1.2402683562148697
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+            "held_grasp_midpoint": [
+              0.3463819751006698,
+              0.3255444203973047,
+              1.2402683562148697
+            ],
+            "held_grasp_object_position": [
+              0.35176113786319624,
+              0.33854200558926006,
+              1.2402683562148697
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+            "held_grasp_finger_gap": 0.02813344009166938,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025437735701179316,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04890250167091589,
+              -0.9987949434335843,
+              0.004148047954081857
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004737425485269001,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03195524808325596,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "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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+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29068741817135424,
+              -0.32117863928634977,
+              0.8470194493221703
+            ],
+            "target_position": [
+              0.2812474811334404,
+              -0.32477351877844335,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010101265754471204,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18873560402330908,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194493221703,
+            "min_z": 0.5730800627579278,
+            "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": 0.0752701713290856,
+            "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": 0.15791110462447527,
+            "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": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007463514804840088,
+            "max_z_decrease": 0.007463514804840088,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511315121929785,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007463514804840088,
+            "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": 0.021088960994116536,
+            "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": 0.007463514804840088,
+            "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": 0.00746353723681549,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13694740831851954,
+              -0.38103497028350825,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13694740831851954,
+              -0.38103497028350825,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13687791883963096,
+              -0.3808193656894661,
+              0.8078205969898561
+            ],
+            "closest_button": [
+              0.13693779706954953,
+              -0.3810380101203918,
+              0.7727081775665283
+            ],
+            "closest_ee_minus_button": [
+              -5.9878229918569614e-05,
+              0.0002186444309256741,
+              0.03511241942332777
+            ],
+            "button_min_z_position": [
+              0.13692910969257352,
+              -0.381035029888153,
+              0.7693453431129456
+            ],
+            "min_active_finger_to_button": 0.14611726395018007,
+            "closest_active_finger": [
+              0.009916357696056366,
+              -0.4446102976799011,
+              0.8106293678283691
+            ],
+            "closest_active_finger_button": [
+              0.13694716989994044,
+              -0.38103565573692316,
+              0.7763993740081787
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12703081220388407,
+              -0.06357464194297796,
+              0.03422999382019043
+            ],
+            "min_contact_pad_to_button": 0.021088960994116536,
+            "closest_contact_pad": [
+              0.13692910969257352,
+              -0.3818593393660772,
+              0.7904181879540194
+            ],
+            "closest_contact_pad_button": [
+              0.13692910969257352,
+              -0.381035029888153,
+              0.7693453431129456
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008243094779241678,
+              0.021072844841073857
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba87428ddc4982e90e755b33034447379e83fafee0f3717eeb7c5a2c75d03621",
+    "visual_seed": 6234308559547803479,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df1ad0dd6a3bb615dd0e7117d466204f9a22e192
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.32819332608226776,
+              1.0478900848849995
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+            "lift_margin": 0.19130351787178912,
+            "gripper_z": 1.0475838111516194,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3461394190314325,
+              0.3230003809489296,
+              1.0475838111516194
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+              0.005807694575121702,
+              0.005192945133338178,
+              0.00030627373338010244
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+            "object_to_gripper_z": 0.00030627373338010244,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.35194711360655423,
+              0.3031549519932854,
+              1.0478900848849995
+            ],
+            "finger_b": [
+              0.339723730327955,
+              0.32819332608226776,
+              1.0478900848849995
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+            "finger_midpoint": [
+              0.3458354219672546,
+              0.3156741390377766,
+              1.0478900848849995
+            ],
+            "object_minus_finger_midpoint": [
+              0.006111691639299643,
+              0.012519187044491176,
+              0.0
+            ],
+            "finger_gap": 0.027862721973909193,
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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": 0.8075420848883544,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824855208496563,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.093760499313206,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
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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"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "40b4bfd3bb2b11869321144cfb91e8f4ab6b44c8a1e90912f37f979429a3aa89",
+    "visual_seed": 8604509718627958351,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..80ad68771a7d0203777917160d9f54cdf0269842
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.328471088466393,
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+              0.3233058683035678,
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+              0.005165220162825224,
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+              0.3160729237632967,
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+              0.0,
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.3316477580443094,
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+            "held_gripper_z_dist": 0.001199487084235562,
+            "max_held_gripper_z_dist": 0.0013135991044168627,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+            "release_min_pad_clearance": 0.15384117376594889,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.23069977101804562,
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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
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006950795650482178,
+            "max_z_decrease": 0.006950795650482178,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517313063205755,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006950795650482178,
+            "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": 0.021058394164005345,
+            "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": 0.006950795650482178,
+            "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": 0.006950811372617407,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13539226353168485,
+              -0.3760241866111755,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13539226353168485,
+              -0.3760241866111755,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13379376578071672,
+              -0.37479686595250983,
+              0.8072974697965916
+            ],
+            "closest_button": [
+              0.1353824436664581,
+              -0.3760228455066681,
+              0.7721816301345825
+            ],
+            "closest_ee_minus_button": [
+              -0.0015886778857413797,
+              0.001225979554158263,
+              0.03511583966200904
+            ],
+            "button_min_z_position": [
+              0.13537748157978055,
+              -0.37602394819259644,
+              0.7698580622673035
+            ],
+            "min_active_finger_to_button": 0.1468985889774485,
+            "closest_active_finger": [
+              0.006622642278671265,
+              -0.43786484003067017,
+              0.8110612034797668
+            ],
+            "closest_active_finger_button": [
+              0.1353919804096222,
+              -0.3760251104831695,
+              0.7768048048019409
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12876933813095093,
+              -0.061839729547500666,
+              0.03425639867782593
+            ],
+            "min_contact_pad_to_button": 0.021058394164005345,
+            "closest_contact_pad": [
+              0.13537748157978055,
+              -0.37602394819259644,
+              0.7909164564313088
+            ],
+            "closest_contact_pad_button": [
+              0.13537748157978055,
+              -0.37602394819259644,
+              0.7698580622673035
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021058394164005345
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0080368aa016fd819597e6f1fc3f94913a1cdb68747c0a1194701f881b9964c5",
+    "visual_seed": 7664471186407491831,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f33f10c219c96daab2de343dbf41b251bff0329c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35258259201693043,
+              0.33212781416330833,
+              1.0518993768644773
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+            "current_z": 1.0518993768644773,
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+            "lift_margin": 0.1953129886652013,
+            "gripper_z": 1.0501804170778901,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.347105438719258,
+              0.3269342466751938,
+              1.0501804170778901
+            ],
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+              0.005477153297672455,
+              0.005193567488114559,
+              0.0017189597865872042
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+            "object_to_gripper_z": 0.0017189597865872042,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35258259201693043,
+              0.30758917340968006,
+              1.0518993768644773
+            ],
+            "finger_b": [
+              0.34000770625800636,
+              0.33212781416330833,
+              1.0518993768644773
+            ],
+            "finger_midpoint": [
+              0.3462951491374684,
+              0.3198584937864942,
+              1.0518993768644773
+            ],
+            "object_minus_finger_midpoint": [
+              0.006287442879462035,
+              0.012269320376814108,
+              0.0
+            ],
+            "finger_gap": 0.02757304194109924,
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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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+            "finger_top_clearance": 0.0461360324582063,
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+            "object_projection_between_fingers": 0.7920117821709259,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833573742827969,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.697938326114393,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3539057650429771,
+              0.3296438367826768,
+              1.2388922673653329
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+            "held_position": [
+              0.35994774324851053,
+              0.33421103897429827,
+              1.2404896995046422
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007740583048775547,
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "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",
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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",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.28062972059498875,
+              -0.32157259621674017,
+              0.8470195471613835
+            ],
+            "target_position": [
+              0.27356791725159246,
+              -0.32404987708451827,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007483714783358757,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466678163536113,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195471613835,
+            "min_z": 0.5730800627579278,
+            "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": 0.07591220871429424,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537971738970838,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15243437272321464,
+            "release_required_pad_clearance": 0.052689858694854194,
+            "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": 0.4352117572668099,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007088303565979004,
+            "max_z_decrease": 0.007088303565979004,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035170589350200405,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007088303565979004,
+            "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": 0.021089360948858715,
+            "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": 0.007088303565979004,
+            "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": 0.007088327767904069,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12926784157752985,
+              -0.38031134009361267,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12926784157752985,
+              -0.38031134009361267,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13061975054536365,
+              -0.3787315928685306,
+              0.8081179106460744
+            ],
+            "closest_button": [
+              0.12925887107849116,
+              -0.38031262159347534,
+              0.7730092406272888
+            ],
+            "closest_ee_minus_button": [
+              0.0013608794668724944,
+              0.0015810287249447552,
+              0.03510867001878559
+            ],
+            "button_min_z_position": [
+              0.1292493194341659,
+              -0.380311518907547,
+              0.7697205543518066
+            ],
+            "min_active_finger_to_button": 0.1443131307252264,
+            "closest_active_finger": [
+              0.003448396921157837,
+              -0.4421187937259674,
+              0.8110305070877075
+            ],
+            "closest_active_finger_button": [
+              0.1292711794376373,
+              -0.38031005859375,
+              0.7767582535743713
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12582278251647946,
+              -0.06180873513221741,
+              0.03427225351333618
+            ],
+            "min_contact_pad_to_button": 0.021089360948858715,
+            "closest_contact_pad": [
+              0.1292493194341659,
+              -0.380311518907547,
+              0.7908099153006654
+            ],
+            "closest_contact_pad_button": [
+              0.1292493194341659,
+              -0.380311518907547,
+              0.7697205543518066
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021089360948858715
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "998982dd1625284e08d0441b2eed98687bf7a5b32672be687432daee0a2fc8e8",
+    "visual_seed": 4123626212511825237,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f921b5936fdae06eb663ed40a0d14f421bb4463
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "contact_point_distance": 0.02124099858400057,
+            "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": 0.0072762370109558105,
+            "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": 0.00727625843711871,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13394396007061,
+              -0.3837372064590453,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13394396007061,
+              -0.3837372064590453,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13504487427499834,
+              -0.38549217677215497,
+              0.8081463440264706
+            ],
+            "closest_button": [
+              0.1339378952980041,
+              -0.3837381303310393,
+              0.7730404138565063
+            ],
+            "closest_ee_minus_button": [
+              0.001106978976994244,
+              -0.0017540464411156531,
+              0.03510593016996422
+            ],
+            "button_min_z_position": [
+              0.13392630219459528,
+              -0.38373726606369013,
+              0.7695326209068298
+            ],
+            "min_active_finger_to_button": 0.14497274440776825,
+            "closest_active_finger": [
+              -0.006346888840198517,
+              -0.37132635712623596,
+              0.8111873269081116
+            ],
+            "closest_active_finger_button": [
+              0.13394263386726374,
+              -0.3837385773658752,
+              0.7768087983131409
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14028952270746226,
+              0.012412220239639227,
+              0.0343785285949707
+            ],
+            "min_contact_pad_to_button": 0.02124099858400057,
+            "closest_contact_pad": [
+              0.13392630219459528,
+              -0.3863943862350976,
+              0.7906067693650763
+            ],
+            "closest_contact_pad_button": [
+              0.13392630219459528,
+              -0.38373726606369013,
+              0.7695326209068298
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026571201714074566,
+              0.02107414845824651
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "39a9579a7d3ff78a540c0cb9eacdbb78bd0f0579073d75725b038a3a30d6957e",
+    "visual_seed": 348871218394502001,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2526e3d6b433ef7e783c154e21398b3312a8dae9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34389149430369625,
+              0.33570654221496987,
+              1.048406785271008
+            ],
+            "current_z": 1.048406785271008,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19182033746708715,
+            "gripper_z": 1.0473432130943365,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33816303941763837,
+              0.33037879057034925,
+              1.0473432130943365
+            ],
+            "object_minus_gripper": [
+              0.005728454886057888,
+              0.005327751644620626,
+              0.0010635721766714124
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+            "object_to_gripper_xy": 0.007823051384744848,
+            "object_to_gripper_z": 0.0010635721766714124,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34389149430369625,
+              0.31093227493713327,
+              1.048406785271008
+            ],
+            "finger_b": [
+              0.33121122222969857,
+              0.33570654221496987,
+              1.048406785271008
+            ],
+            "finger_midpoint": [
+              0.3375513582666974,
+              0.32331940857605157,
+              1.048406785271008
+            ],
+            "object_minus_finger_midpoint": [
+              0.006340136036998845,
+              0.012387133638918302,
+              0.0
+            ],
+            "finger_gap": 0.027830803420388194,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013915401710194097,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048406785271008,
+            "object_top_z": 1.0958243471252316,
+            "finger_top_clearance": 0.04741756185422363,
+            "fingertip_min_top_clearance": 0.014225268556267089,
+            "object_projection_between_fingers": 0.7924103691192449,
+            "object_to_finger_line_xy": 0.011287652920819803,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04955431924397881,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6205945946678595,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3444648533756526,
+              0.3336938030717143,
+              1.238652589985011
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+            "held_position": [
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+              0.33846150615373294,
+              1.2396460255143942
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00789516059045243,
+            "max_held_gripper_dist": 0.007896970110290464,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009934355293832464,
+            "max_held_gripper_z_dist": 0.0011089288140020415,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08925719249456554,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.31244413537938553,
+              1.2396460255143942
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+              0.33846150615373294,
+              1.2396460255143942
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+            "held_grasp_midpoint": [
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+              0.32545282076655924,
+              1.2396460255143942
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+            "held_grasp_object_position": [
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+              0.33846150615373294,
+              1.2396460255143942
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+            "held_grasp_finger_gap": 0.02802661660823321,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024846210003813103,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09860612920550044,
+              -0.9944793943311464,
+              0.03588266341653523
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003931062348118771,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03174959083795545,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              -0.32502983691637133,
+              0.8470193573543832
+            ],
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+              0.27218878981266786,
+              -0.32667024882868506,
+              0.8084375599031817
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+            "xy_dist": 0.006380165338565753,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18639839600845634,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193573543832,
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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_min_pad_clearance": 0.15544906216313564,
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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": 1.8113727265254695,
+            "object_max_tilt_deg": 12.0,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007023334503173828,
+            "max_z_decrease": 0.007023334503173828,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514662868229272,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007023334503173828,
+            "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": 0.021087094836016007,
+            "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": 0.007023334503173828,
+            "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": 0.007023355201849198,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12788870930671692,
+              -0.3829317092895507,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12788870930671692,
+              -0.3829317092895507,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12755116229953542,
+              -0.38121856807559973,
+              0.8081755754417129
+            ],
+            "closest_button": [
+              0.12788352370262146,
+              -0.38293182849884033,
+              0.7730723023414612
+            ],
+            "closest_ee_minus_button": [
+              -0.00033236140308604,
+              0.0017132604232406035,
+              0.03510327310025174
+            ],
+            "button_min_z_position": [
+              0.12787166237831116,
+              -0.38293209671974177,
+              0.7697855234146118
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+            "closest_active_finger": [
+              0.00026807934045791626,
+              -0.4443979859352112,
+              0.8111422061920166
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+              0.12788714468479156,
+              -0.3829327821731567,
+              0.7768086791038513
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12761906534433365,
+              -0.0614652037620545,
+              0.03433352708816528
+            ],
+            "min_contact_pad_to_button": 0.021087094836016007,
+            "closest_contact_pad": [
+              0.12787166237831116,
+              -0.38293209671974177,
+              0.7908726182506278
+            ],
+            "closest_contact_pad_button": [
+              0.12787166237831116,
+              -0.38293209671974177,
+              0.7697855234146118
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021087094836016007
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "919980e4b9d0ab4e883939a3aec007cca6397ccd35639bff877e07c9f1b497b1",
+    "visual_seed": 3007763736686371599,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..371b9f45d4fd6a5ffb44abe8b898a2441ff85678
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.333184902559116,
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+            "lift_margin": 0.1919554157507476,
+            "gripper_z": 1.0470191865226117,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3386905814079992,
+              0.3281368406747661,
+              1.0470191865226117
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+              0.005048061884349864,
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+            "object_to_gripper_z": 0.0015226174274118875,
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+              0.3441673670255506,
+              0.30848919077565007,
+              1.0485418039500236
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+              0.33199000643646426,
+              0.333184902559116,
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+            "finger_midpoint": [
+              0.33807868673100744,
+              0.320837046667383,
+              1.0485418039500236
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+              0.006088680294543181,
+              0.012347855891732984,
+              0.0
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+            "finger_gap": 0.027534819618233397,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8044121552263702,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048483371206679546,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_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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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0815f72bddfdf3f6df5e99f427716d409b9b0d083ae634c4f1be1ec170759e15",
+    "visual_seed": 654663014833624825,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7b48afdc910169b2dc9696231a649c51b897af6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.3290725752538264,
+              1.0501417715898416
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+            "gripper_z": 1.0499819137216289,
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+            "gripper_position": [
+              0.34143213047224397,
+              0.32384772178188287,
+              1.0499819137216289
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+              0.005224853471943514,
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+            "object_to_gripper_z": 0.00015985786821270942,
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+              0.30383703624673225,
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+              1.0501417715898416
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+              0.3164548057502793,
+              1.0501417715898416
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+              0.012617769503547094,
+              0.0
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.32786623585012425,
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+              0.3327361264663279,
+              1.2372308864333534
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 4.346791302189956e-05,
+            "max_held_gripper_z_dist": 0.00016877602708076367,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+              0.31978344949341614,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9990997925146633,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+        "post_done_wait_frames": 0,
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08670685388609055,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15806784090321183,
+            "release_required_pad_clearance": 0.053353426943045276,
+            "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": 1.7232386802606519,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.007287323474884033,
+            "max_z_decrease": 0.007287323474884033,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519372474942349,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007287323474884033,
+            "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": 0.021265446086931518,
+            "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": 0.007287323474884033,
+            "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": 0.007287344580875808,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1344397664070129,
+              -0.3844086825847625,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1344397664070129,
+              -0.3844086825847625,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13590981599953786,
+              -0.3863764051952461,
+              0.8081670304564363
+            ],
+            "closest_button": [
+              0.13443225622177124,
+              -0.38440990447998047,
+              0.7730593681335449
+            ],
+            "closest_ee_minus_button": [
+              0.0014775597777666183,
+              -0.0019665007152656067,
+              0.03510766232289142
+            ],
+            "button_min_z_position": [
+              0.13442222774028778,
+              -0.3844087719917297,
+              0.7695215344429016
+            ],
+            "min_active_finger_to_button": 0.14459127027201538,
+            "closest_active_finger": [
+              -0.005480222404003143,
+              -0.3721809685230255,
+              0.8106111884117126
+            ],
+            "closest_active_finger_button": [
+              0.13443917036056519,
+              -0.3844094574451446,
+              0.7762649655342102
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13991939276456833,
+              0.012228488922119085,
+              0.03434622287750244
+            ],
+            "min_contact_pad_to_button": 0.021265446086931518,
+            "closest_contact_pad": [
+              0.13442222774028778,
+              -0.3872766313037222,
+              0.7905927133430678
+            ],
+            "closest_contact_pad_button": [
+              0.13442222774028778,
+              -0.3844087719917297,
+              0.7695215344429016
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028678593119925155,
+              0.021071178900166188
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae7b0478064601f3e76be0fb33cd2599e103b00d9ecea44460a441408745865c",
+    "visual_seed": 4558571806775929900,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..969cec1a7d765bf5059dffc27db0403d62dff24f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_1_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35058585130344944,
+              0.3368428496568392,
+              1.049417754263591
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+            "lift_margin": 0.1928312468550254,
+            "gripper_z": 1.0479772725841399,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34478574241120574,
+              0.3316346958493524,
+              1.0479772725841399
+            ],
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+              0.005800108892243694,
+              0.005208153807486793,
+              0.0014404816794511
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+            "object_to_gripper_xy": 0.007795263256896687,
+            "object_to_gripper_z": 0.0014404816794511,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.35058585130344944,
+              0.3119521604731729,
+              1.049417754263591
+            ],
+            "finger_b": [
+              0.33814267077228566,
+              0.3368428496568392,
+              1.049417754263591
+            ],
+            "finger_midpoint": [
+              0.34436426103786755,
+              0.3243975050650061,
+              1.049417754263591
+            ],
+            "object_minus_finger_midpoint": [
+              0.006221590265581889,
+              0.012445344591833107,
+              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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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048256158961426696,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3352569583027354,
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+            "held_position": [
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+              0.34001217521427207,
+              1.2390435924704215
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007954473307674424,
+            "max_held_gripper_dist": 0.007955583009949464,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001348626603755676,
+            "max_held_gripper_z_dist": 0.0014704646106249442,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08969207397082563,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
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+            "held_grasp_geometry_required": true,
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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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"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2832563998443413,
+              -0.32440495135746983,
+              0.8470197265982045
+            ],
+            "target_position": [
+              0.2756831496631071,
+              -0.3270282473421662,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008014723958495902,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18740158920181604,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197265982045,
+            "min_z": 0.5730800627579278,
+            "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": 0.07531203283834555,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08565108375061452,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15643884759782212,
+            "release_required_pad_clearance": 0.05282554187530726,
+            "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": 0.694357475788441,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007266581058502197,
+            "max_z_decrease": 0.007266581058502197,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351180279307433,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007266581058502197,
+            "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": 0.02109306765262226,
+            "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": 0.007266581058502197,
+            "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": 0.007266600732877895,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13138307631015778,
+              -0.3832896947860718,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13138307631015778,
+              -0.3832896947860718,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13184433886819144,
+              -0.3828553109072178,
+              0.8079617075308709
+            ],
+            "closest_button": [
+              0.13137276470661163,
+              -0.383291870355606,
+              0.7728495597839355
+            ],
+            "closest_ee_minus_button": [
+              0.00047157416157980747,
+              0.0004365594483882185,
+              0.035112147746935385
+            ],
+            "button_min_z_position": [
+              0.13136617839336395,
+              -0.38329032063484186,
+              0.7695422768592834
+            ],
+            "min_active_finger_to_button": 0.145564204584452,
+            "closest_active_finger": [
+              0.004189230501651764,
+              -0.4452473521232605,
+              0.810797393321991
+            ],
+            "closest_active_finger_button": [
+              0.1313830316066742,
+              -0.38329049944877625,
+              0.7765625715255737
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12719380110502243,
+              -0.06195685267448425,
+              0.034234821796417236
+            ],
+            "min_contact_pad_to_button": 0.02109306765262226,
+            "closest_contact_pad": [
+              0.13136617839336395,
+              -0.38401881564513535,
+              0.7906227606776894
+            ],
+            "closest_contact_pad_button": [
+              0.13136617839336395,
+              -0.38329032063484186,
+              0.7695422768592834
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000728495010293484,
+              0.021080483818405993
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ed100203e2be4a30c3f08e2db7d97ec8ec4e537e1cb8579b794f1f145c80ae0",
+    "visual_seed": 384616415914802299,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..458825c0ba4db43a7f33dcc3e6655eb5afbb647f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
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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": 0.007154068733531832,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13414530456066126,
+              -0.37813162803649897,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13414530456066126,
+              -0.37813162803649897,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13497348596532052,
+              -0.3763372256312911,
+              0.8080591906393293
+            ],
+            "closest_button": [
+              0.13413457572460172,
+              -0.37813481688499445,
+              0.7729313373565674
+            ],
+            "closest_ee_minus_button": [
+              0.0008389102407188043,
+              0.001797591253703379,
+              0.03512785328276191
+            ],
+            "button_min_z_position": [
+              0.13412791490554804,
+              -0.37813287973403925,
+              0.7696548104286194
+            ],
+            "min_active_finger_to_button": 0.1446471023437444,
+            "closest_active_finger": [
+              0.007135435938835144,
+              -0.4383253753185272,
+              0.810827910900116
+            ],
+            "closest_active_finger_button": [
+              0.13414578139781946,
+              -0.37813219428062433,
+              0.7766528129577637
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12701034545898432,
+              -0.06019318103790289,
+              0.034175097942352295
+            ],
+            "min_contact_pad_to_button": 0.021078171804891466,
+            "closest_contact_pad": [
+              0.13412791490554804,
+              -0.37813287973403925,
+              0.7907329822335109
+            ],
+            "closest_contact_pad_button": [
+              0.13412791490554804,
+              -0.37813287973403925,
+              0.7696548104286194
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021078171804891466
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4cd1cd61a855678a110203e985c976d62dc7066f3e941dfc0df48b4619b7d9d1",
+    "visual_seed": 2529706231974263368,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a5efddbf0d8d342fbeed288424fabf05cea0e8a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3484618320826027,
+              0.3332252855732983,
+              1.0491653756394015
+            ],
+            "current_z": 1.0491653756394015,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19257886823083592,
+            "gripper_z": 1.0475175655814983,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3429973652592281,
+              0.328169732257888,
+              1.0475175655814983
+            ],
+            "object_minus_gripper": [
+              0.005464466823374592,
+              0.005055553315410299,
+              0.001647810057903154
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+            "object_to_gripper_xy": 0.007444395004882376,
+            "object_to_gripper_z": 0.001647810057903154,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3484618320826027,
+              0.30855615505923456,
+              1.0491653756394015
+            ],
+            "finger_b": [
+              0.33625120359106947,
+              0.3332252855732983,
+              1.0491653756394015
+            ],
+            "finger_midpoint": [
+              0.34235651783683607,
+              0.3208907203162664,
+              1.0491653756394015
+            ],
+            "object_minus_finger_midpoint": [
+              0.006105314245766602,
+              0.01233456525703186,
+              0.0
+            ],
+            "finger_gap": 0.02752572339609174,
+            "fingertip_max_gap": 0.09200125059259703,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01376286169804587,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491653756394015,
+            "object_top_z": 1.0953824040718896,
+            "finger_top_clearance": 0.046217028432488094,
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+            "object_projection_between_fingers": 0.8032120265511331,
+            "object_to_finger_line_xy": 0.01094342130747225,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850062529629852,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7673758338566405,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34975619387843004,
+              0.3307109848253192,
+              1.2389325646553575
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+            "held_position": [
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+              0.33522945282115846,
+              1.2404908791233578
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007636257569368218,
+            "max_held_gripper_dist": 0.007637146224313214,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015583144680002547,
+            "max_held_gripper_z_dist": 0.0016766508431194094,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0897809964355778,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3557116563000335,
+              0.30925396527465204,
+              1.2404908791233578
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+            "held_grasp_finger_b": [
+              0.3459161382830447,
+              0.33538901226156304,
+              1.2404908791233578
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+            "held_grasp_midpoint": [
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+              0.3223214887681075,
+              1.2404908791233578
+            ],
+            "held_grasp_object_position": [
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+              0.33522945282115846,
+              1.2404908791233578
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+            "held_grasp_finger_gap": 0.027910443461707977,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02497314132033618,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10359703751127747,
+              -0.9943708148219472,
+              0.02223367826572242
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035462714553024864,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031857528908961937,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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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": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.31940897382450156,
+              0.8470195243730585
+            ],
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+              -0.3224560694523354,
+              0.8084375599031817
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+            "gripper_away_ok": true,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
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+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007285654544830322,
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+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021082871139254444,
+            "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": 0.007285654544830322,
+            "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": 0.007285675500514328,
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+            "button_start": [
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+              -0.37871754169464106,
+              0.7768088579177856
+            ],
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+              0.1365444660186767,
+              -0.37871754169464106,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13623432523961843,
+              -0.3770955101040215,
+              0.8079386516811587
+            ],
+            "closest_button": [
+              0.13653586804866788,
+              -0.3787187039852141,
+              0.7728344202041626
+            ],
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+              -0.0003015428090494543,
+              0.0016231938811926416,
+              0.03510423147699615
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+            "button_min_z_position": [
+              0.1365270018577575,
+              -0.3787181377410888,
+              0.7695232033729553
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+            "closest_active_finger": [
+              0.009942159056663513,
+              -0.4422171413898468,
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+              0.13654445111751554,
+              -0.3787181675434112,
+              0.7765449285507202
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+            "closest_active_finger_minus_button": [
+              -0.12660229206085202,
+              -0.0634989738464356,
+              0.03428083658218384
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+            "closest_contact_pad": [
+              0.1365270018577575,
+              -0.3787181377410888,
+              0.7906060745122098
+            ],
+            "closest_contact_pad_button": [
+              0.1365270018577575,
+              -0.3787181377410888,
+              0.7695232033729553
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021082871139254444
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "65fa1cbd432bf05d7df20c45fb095c25a437391a085b526b8c84923d36b3ef5f",
+    "visual_seed": 3246279157056398094,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f6fa6db5ae42562f10b079ba049fb4493f74afd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.3267536224388151,
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+            "gripper_z": 1.0485433192262437,
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+            "gripper_position": [
+              0.3473003415878265,
+              0.32159629319543204,
+              1.0485433192262437
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+              0.0056705941992191145,
+              0.00515732924338308,
+              0.0015693013158570857
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+            "object_to_gripper_z": 0.0015693013158570857,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3019015098872846,
+              1.0501126205421007
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+            "finger_b": [
+              0.34069023299133383,
+              0.3267536224388151,
+              1.0501126205421007
+            ],
+            "finger_midpoint": [
+              0.34683058438918973,
+              0.31432756616304985,
+              1.0501126205421007
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+            "object_minus_finger_midpoint": [
+              0.006140351397855903,
+              0.012426056275765263,
+              0.0
+            ],
+            "finger_gap": 0.027720807337279066,
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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,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.20339973590231802,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_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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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c165d6cb55757673b431811787b93899f97d31ba4ed43fe55a44b04faa9eaae",
+    "visual_seed": 4780824724848253106,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
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+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..90601d488c65d35a58eb64468d76302e04a58901
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.3319352049980277,
+              1.0506704403741074
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+            "lift_margin": 0.19408381375625228,
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+              1.0490896201737492
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+              0.005128459327531809,
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+              0.3073842011690582,
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+              0.31965970308354297,
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+              0.012275501914484732,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847197281853481,
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+              0.0,
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+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.0014819226188274026,
+            "max_held_gripper_z_dist": 0.0016084756766132635,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08974845698441225,
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+              0.32105992249518484,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+          }
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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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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15883637891945077,
+            "release_required_pad_clearance": 0.0537857347395896,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.579659498331158,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006977379322052002,
+            "max_z_decrease": 0.006977379322052002,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516054757277989,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006977379322052002,
+            "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": 0.021122626789800387,
+            "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": 0.006977379322052002,
+            "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": 0.0069773998574057,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13124684989452362,
+              -0.3771422207355498,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13124684989452362,
+              -0.3771422207355498,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13280721214390123,
+              -0.3771850950997402,
+              0.8082176417929628
+            ],
+            "closest_button": [
+              0.13123665750026703,
+              -0.37714603543281544,
+              0.7730922102928162
+            ],
+            "closest_ee_minus_button": [
+              0.0015705546436342033,
+              -3.9059666924745606e-05,
+              0.03512543150014669
+            ],
+            "button_min_z_position": [
+              0.1312299519777298,
+              -0.377143234014511,
+              0.7698314785957336
+            ],
+            "min_active_finger_to_button": 0.14465021277024476,
+            "closest_active_finger": [
+              -0.008180633187294006,
+              -0.3595161437988281,
+              0.8105093240737915
+            ],
+            "closest_active_finger_button": [
+              0.13124641776084897,
+              -0.3771434426307677,
+              0.7762593626976013
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13942705094814298,
+              0.017627298831939586,
+              0.034249961376190186
+            ],
+            "min_contact_pad_to_button": 0.021122626789800387,
+            "closest_contact_pad": [
+              0.1312299519777298,
+              -0.3784712053341175,
+              0.7909123195342611
+            ],
+            "closest_contact_pad_button": [
+              0.1312299519777298,
+              -0.377143234014511,
+              0.7698314785957336
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013279713196064913,
+              0.021080840938527468
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ab008831659da5823eef0804a5f0970ae8edc552cd402e18004d16be5fd0eac",
+    "visual_seed": 77532980838625268,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62b7f3f85a427aad02d6783784227ce4276f93fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3453728254465919,
+              0.33781447171174855,
+              1.0521422309314212
+            ],
+            "current_z": 1.0521422309314212,
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+            "lift_margin": 0.1955558427321452,
+            "gripper_z": 1.0504762758134225,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33987315403717144,
+              0.3326493523488684,
+              1.0504762758134225
+            ],
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+              0.005499671409420481,
+              0.005165119362880166,
+              0.0016659551179987186
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+            "object_to_gripper_xy": 0.007544855442246503,
+            "object_to_gripper_z": 0.0016659551179987186,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3453728254465919,
+              0.3131841507863057,
+              1.0521422309314212
+            ],
+            "finger_b": [
+              0.33294777413677246,
+              0.33781447171174855,
+              1.0521422309314212
+            ],
+            "finger_midpoint": [
+              0.33916029979168216,
+              0.3254993112490271,
+              1.0521422309314212
+            ],
+            "object_minus_finger_midpoint": [
+              0.006212525654909762,
+              0.012315160462721464,
+              0.0
+            ],
+            "finger_gap": 0.027586855727718507,
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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": 0.7971420770649588,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477885884644645,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2627157751692168,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.33603209141663076,
+              1.2392071391371
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+              0.3406705224345416,
+              1.240769242560301
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077251887762445235,
+            "max_held_gripper_dist": 0.007727194354201747,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015621034232009556,
+            "max_held_gripper_z_dist": 0.001677219819163689,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08928298420210201,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3522946582424343,
+              0.3147995464283063,
+              1.240769242560301
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+            "held_grasp_finger_b": [
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+              0.3406705224345416,
+              1.240769242560301
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+            "held_grasp_midpoint": [
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+              "held_object": "beaker_b",
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+                "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",
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+                "joint7",
+                "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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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2886691146143688,
+              -0.320033036582906,
+              0.8470196169319464
+            ],
+            "target_position": [
+              0.2807843265879568,
+              -0.3230643640608578,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008447415492328712,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18617292908277186,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196169319464,
+            "min_z": 0.5730800627579278,
+            "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": 0.07587530496954457,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515887194219411,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15402334033145051,
+            "release_required_pad_clearance": 0.05257943597109706,
+            "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": 0.22381162511450675,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007211923599243164,
+            "max_z_decrease": 0.007211923599243164,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523209078149372,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007211923599243164,
+            "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": 0.021249796908892383,
+            "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": 0.007211923599243164,
+            "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": 0.007211945191830366,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13648425042629242,
+              -0.37932583689689636,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13648425042629242,
+              -0.37932583689689636,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13870272351201632,
+              -0.38112520596634936,
+              0.8081906366320544
+            ],
+            "closest_button": [
+              0.13647539913654325,
+              -0.3793279230594635,
+              0.7730749845504761
+            ],
+            "closest_ee_minus_button": [
+              0.002227324375473072,
+              -0.0017972829068858553,
+              0.0351156520815783
+            ],
+            "button_min_z_position": [
+              0.13646660745143888,
+              -0.3793262541294098,
+              0.7695969343185425
+            ],
+            "min_active_finger_to_button": 0.14386920621447793,
+            "closest_active_finger": [
+              -0.0026891380548477173,
+              -0.3669862747192383,
+              0.8105834722518921
+            ],
+            "closest_active_finger_button": [
+              0.13648340106010434,
+              -0.37932679057121277,
+              0.776275098323822
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13917253911495206,
+              0.012340515851974487,
+              0.03430837392807007
+            ],
+            "min_contact_pad_to_button": 0.021249796908892383,
+            "closest_contact_pad": [
+              0.13646660745143888,
+              -0.38204107248602037,
+              0.7906725987199269
+            ],
+            "closest_contact_pad_button": [
+              0.13646660745143888,
+              -0.3793262541294098,
+              0.7695969343185425
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002714818356610582,
+              0.02107566440138442
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "632f4a3cef09d43f33aa1d4d0fda30dde0047c22263f93ea3ada71e2aa8d77ab",
+    "visual_seed": 7880928338912924552,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f62b90fc7d28f526a9988b02f96aad4786b19f6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34969847135721055,
+              0.32919263716946223,
+              1.0477262531738991
+            ],
+            "current_z": 1.0477262531738991,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19113980536997832,
+            "gripper_z": 1.0474259028632917,
+            "force_virtual_attach": false,
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+              0.1270117461681366,
+              -0.3845615684986114,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12876149527623487,
+              -0.38328007104737194,
+              0.80804953085211
+            ],
+            "closest_button": [
+              0.12700410187244413,
+              -0.38456290960311884,
+              0.7729429602622986
+            ],
+            "closest_ee_minus_button": [
+              0.0017573934037907468,
+              0.0012828385557469013,
+              0.03510657058981137
+            ],
+            "button_min_z_position": [
+              0.12699306011199948,
+              -0.38456138968467707,
+              0.7695979475975037
+            ],
+            "min_active_finger_to_button": 0.14410270010569942,
+            "closest_active_finger": [
+              0.0014132633805274963,
+              -0.4463193118572235,
+              0.8109762668609619
+            ],
+            "closest_active_finger_button": [
+              0.12701344490051267,
+              -0.38456118106842035,
+              0.7766817212104797
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12560018151998517,
+              -0.061758130788803156,
+              0.03429454565048218
+            ],
+            "min_contact_pad_to_button": 0.021089029449808172,
+            "closest_contact_pad": [
+              0.12699306011199948,
+              -0.38456138968467707,
+              0.7906869770473118
+            ],
+            "closest_contact_pad_button": [
+              0.12699306011199948,
+              -0.38456138968467707,
+              0.7695979475975037
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021089029449808172
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f59365eb1aec895ab346b62130bb860ae927de3632888426f5ab780e2f968c8",
+    "visual_seed": 7759839442894178215,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b157f1f61310f103dd1eae465cca7e762e90e68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34771335385619456,
+              0.3277262057203931,
+              1.0518178226869412
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+            "current_z": 1.0518178226869412,
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+            "lift_margin": 0.19523131527837567,
+            "gripper_z": 1.0504770100258036,
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+            "gripper_position": [
+              0.3420066157908954,
+              0.32259150602868014,
+              1.0504770100258036
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+              0.005706738065299144,
+              0.005134699691712985,
+              0.0013408126611376137
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+            "object_to_gripper_z": 0.0013408126611376137,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30285425218149625,
+              1.0518178226869412
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+            "finger_b": [
+              0.335435468887042,
+              0.3277262057203931,
+              1.0518178226869412
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+            "finger_midpoint": [
+              0.34157441137161826,
+              0.3152902289509447,
+              1.0518178226869412
+            ],
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+              0.006138942484576304,
+              0.012435976769448409,
+              0.0
+            ],
+            "finger_gap": 0.027737349047030197,
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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": 0.8040626559135453,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483330321449945,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5431727893317507,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3257021107150223,
+              1.2420846768565512
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+            "held_position": [
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+              0.3303230357550363,
+              1.2433389382466091
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077927828138680474,
+            "max_held_gripper_dist": 0.007793991570720531,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012542613900579092,
+            "max_held_gripper_z_dist": 0.0013765507350080863,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0896343957759948,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.3043319480352217,
+              1.2433389382466091
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+              0.3303230357550363,
+              1.2433389382466091
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+              0.317327491895129,
+              1.2433389382466091
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+            "held_grasp_object_position": [
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+              0.3303230357550363,
+              1.2433389382466091
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+            "held_grasp_finger_gap": 0.027897754731379714,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024941040559322655,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09225707836114341,
+              -0.9955797999570892,
+              0.017592424780804583
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003854721742882419,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03179454333271191,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.28192078842639096,
+              -0.32219021383289215,
+              0.8470191616932887
+            ],
+            "target_position": [
+              0.2729703884731753,
+              -0.32548713024402603,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009538307876375506,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18910777135383403,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191616932887,
+            "min_z": 0.5730800627579278,
+            "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": 0.0752884059045796,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08575681785935858,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15820469061711218,
+            "release_required_pad_clearance": 0.052878408929679294,
+            "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": 0.7962245399186935,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006944835186004639,
+            "max_z_decrease": 0.006944835186004639,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515442377566806,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006944835186004639,
+            "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": 0.0210664871841945,
+            "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": 0.006944835186004639,
+            "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": 0.006944854925570973,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12867031991481778,
+              -0.38174858689308155,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12867031991481778,
+              -0.38174858689308155,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12725513366163127,
+              -0.38057577445298185,
+              0.8075248617204992
+            ],
+            "closest_button": [
+              0.12865820527076716,
+              -0.38174468278884877,
+              0.7724179029464722
+            ],
+            "closest_ee_minus_button": [
+              -0.0014030716091358864,
+              0.001168908335866914,
+              0.03510695877402703
+            ],
+            "button_min_z_position": [
+              0.1286537945270538,
+              -0.381747543811798,
+              0.769864022731781
+            ],
+            "min_active_finger_to_button": 0.14684333364158267,
+            "closest_active_finger": [
+              -0.00035715848207473755,
+              -0.4428909122943878,
+              0.8105531930923462
+            ],
+            "closest_active_finger_button": [
+              0.1286712884902954,
+              -0.3817506432533263,
+              0.7762531638145447
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12902844697237015,
+              -0.06114026904106151,
+              0.034300029277801514
+            ],
+            "min_contact_pad_to_button": 0.0210664871841945,
+            "closest_contact_pad": [
+              0.1286537945270538,
+              -0.381819674404563,
+              0.7909303864298524
+            ],
+            "closest_contact_pad_button": [
+              0.1286537945270538,
+              -0.381747543811798,
+              0.769864022731781
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -7.213059276500733e-05,
+              0.021066363698071355
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ccc4d06a9ea0379a412d39ed4876c658174d4a02a233943a990389d425f710fe",
+    "visual_seed": 7097900121424934431,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e6a231f8b8dcd014afa2ff44a94a1d8a83c8dbc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3461196853308834,
+              0.33199094436800813,
+              1.0505833309725625
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+            "gripper_z": 1.0499652979956386,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.340176081294596,
+              0.3267377821256297,
+              1.0499652979956386
+            ],
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+              0.005943604036287409,
+              0.0052531622423784285,
+              0.0006180329769238657
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+            "object_to_gripper_z": 0.0006180329769238657,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3461196853308834,
+              0.3068997583408918,
+              1.0505833309725625
+            ],
+            "finger_b": [
+              0.33375655962538503,
+              0.33199094436800813,
+              1.0505833309725625
+            ],
+            "finger_midpoint": [
+              0.3399381224781342,
+              0.31944535135444996,
+              1.0505833309725625
+            ],
+            "object_minus_finger_midpoint": [
+              0.006181562852749178,
+              0.012545593013558176,
+              0.0
+            ],
+            "finger_gap": 0.027971673054311804,
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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": 1.0505833309725625,
+            "object_top_z": 1.0966055585023629,
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+            "object_projection_between_fingers": 0.8046471806336838,
+            "object_to_finger_line_xy": 0.01108998687175294,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048966032938369916,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3225281113241303,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
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+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d750e8610988bf142d84582d7216ddd7155d473b7b38ca002e375762e69a507",
+    "visual_seed": 1816060680770937499,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..812a61435e2d77821dc0c87099461480854caff3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.31390926427555454,
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+              0.0,
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+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_gripper_z_dist": 0.00132115176375458,
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+              0.316011964372577,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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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"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15231722142727516,
+            "release_required_pad_clearance": 0.05287969424673657,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8001477573976004,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00701671838760376,
+            "max_z_decrease": 0.00701671838760376,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510758664418638,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00701671838760376,
+            "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": 0.021110214369348786,
+            "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": 0.00701671838760376,
+            "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": 0.007016740026237807,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1289127022027969,
+              -0.3805469870567322,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1289127022027969,
+              -0.3805469870567322,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12873815276722086,
+              -0.3804448194132061,
+              0.8081776065291005
+            ],
+            "closest_button": [
+              0.12890574336051935,
+              -0.3805487751960754,
+              0.7730705738067627
+            ],
+            "closest_ee_minus_button": [
+              -0.0001675905932984889,
+              0.00010395578286925833,
+              0.03510703272233784
+            ],
+            "button_min_z_position": [
+              0.12889528274536133,
+              -0.3805465102195739,
+              0.7697921395301819
+            ],
+            "min_active_finger_to_button": 0.1462783168082504,
+            "closest_active_finger": [
+              0.0012080594897270203,
+              -0.4431039094924927,
+              0.8110989332199097
+            ],
+            "closest_active_finger_button": [
+              0.12891192734241483,
+              -0.38054805994033813,
+              0.776808500289917
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277038678526878,
+              -0.06255584955215454,
+              0.034290432929992676
+            ],
+            "min_contact_pad_to_button": 0.021110214369348786,
+            "closest_contact_pad": [
+              0.12889528274536133,
+              -0.38164277919150547,
+              0.7908738696551275
+            ],
+            "closest_contact_pad_button": [
+              0.12889528274536133,
+              -0.3805465102195739,
+              0.7697921395301819
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010962689719315466,
+              0.02108173012494563
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ab00d28b61df68508af534dce62d04f9210c385ffc50065b7b07c16fa10078bc",
+    "visual_seed": 5979806469107102766,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9788fea07797eb2d828af8bf39a306648355bc2f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35260764029214525,
+              0.3375118279453774,
+              1.0493893404399066
+            ],
+            "current_z": 1.0493893404399066,
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+            "lift_margin": 0.19280277342669616,
+            "gripper_z": 1.047600138775171,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3470538294604113,
+              0.3323365623904091,
+              1.047600138775171
+            ],
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+              0.005553810831733952,
+              0.005175265554968278,
+              0.001789201664735618
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+            "object_to_gripper_xy": 0.007591323225836619,
+            "object_to_gripper_z": 0.001789201664735618,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35260764029214525,
+              0.31286215988915544,
+              1.0493893404399066
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+              0.34013093587620347,
+              0.3375118279453774,
+              1.0493893404399066
+            ],
+            "finger_midpoint": [
+              0.34636928808417433,
+              0.3251869939172664,
+              1.0493893404399066
+            ],
+            "object_minus_finger_midpoint": [
+              0.006238352207970921,
+              0.012324834028110965,
+              0.0
+            ],
+            "finger_gap": 0.027627419140497163,
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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": 0.7960521460557838,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048522050362616684,
+            "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": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3536583415515694,
+              0.3353373115638625,
+              1.23578382238367
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+            "held_position": [
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+              0.33994137667698726,
+              1.2374502483082908
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007797946610805163,
+            "max_held_gripper_dist": 0.007799990033407722,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0016664259246208513,
+            "max_held_gripper_z_dist": 0.0017977913076594465,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0901063072202481,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.359727409059583,
+              0.31397233215818954,
+              1.2374502483082908
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+              0.34975298661433457,
+              0.33994137667698726,
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+            "held_grasp_midpoint": [
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+              0.32695685441758837,
+              1.2374502483082908
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+            "held_grasp_object_position": [
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+              0.33994137667698726,
+              1.2374502483082908
+            ],
+            "held_grasp_finger_gap": 0.02781870551150024,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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"
+              ],
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+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2809687702839962,
+              -0.31878125442120514,
+              0.8470196440736145
+            ],
+            "target_position": [
+              0.27448359325020033,
+              -0.3205941011311202,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006733790489265547,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18692587784926207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196440736145,
+            "min_z": 0.5730800627579278,
+            "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": 0.0754256934322932,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583829116221352,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15550976643733913,
+            "release_required_pad_clearance": 0.05291914558110676,
+            "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": 0.8766969236746273,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007268309593200684,
+            "max_z_decrease": 0.007268309593200684,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511040879087721,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007268309593200684,
+            "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": 0.021094141501096394,
+            "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": 0.007268309593200684,
+            "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": 0.007268332581989354,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13018351793289185,
+              -0.37685555219650263,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13018351793289185,
+              -0.37685555219650263,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1303128267382478,
+              -0.3762765142198001,
+              0.8078150614945879
+            ],
+            "closest_button": [
+              0.13017514348030088,
+              -0.3768573403358459,
+              0.7727097272872925
+            ],
+            "closest_ee_minus_button": [
+              0.00013768325794691338,
+              0.0005808261160458184,
+              0.03510533420729545
+            ],
+            "button_min_z_position": [
+              0.13016524910926816,
+              -0.37685620784759516,
+              0.769540548324585
+            ],
+            "min_active_finger_to_button": 0.14580356396314068,
+            "closest_active_finger": [
+              0.002920582890510559,
+              -0.43921440839767456,
+              0.8106325268745422
+            ],
+            "closest_active_finger_button": [
+              0.13018323481082916,
+              -0.3768562972545624,
+              0.7763635516166687
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1272626519203186,
+              -0.06235811114311218,
+              0.034268975257873535
+            ],
+            "min_contact_pad_to_button": 0.021094141501096394,
+            "closest_contact_pad": [
+              0.13016524910926816,
+              -0.37740880700603135,
+              0.7906274504166034
+            ],
+            "closest_contact_pad_button": [
+              0.13016524910926816,
+              -0.37685620784759516,
+              0.769540548324585
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005525991584361956,
+              0.021086902092018467
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b36db328093f8f18bd07473b8be82184ad3c73f77ae602c32388b934ea90923e",
+    "visual_seed": 5586635647846795807,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1c594532357a375819bb75964d47152759f7dcc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34772739476320663,
+              0.3361668287930824,
+              1.0524830976258575
+            ],
+            "current_z": 1.0524830976258575,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19589664982193666,
+            "gripper_z": 1.0507951727215294,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3421925593576046,
+              0.33095035938087963,
+              1.0507951727215294
+            ],
+            "object_minus_gripper": [
+              0.005534835405602012,
+              0.005216469412202773,
+              0.0016879249043280087
+            ],
+            "object_to_gripper_xy": 0.007605652903962469,
+            "object_to_gripper_z": 0.0016879249043280087,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+              -0.379435896873474,
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+            "closest_active_finger": [
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+              -0.36418455839157104,
+              0.8111375570297241
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+            "closest_active_finger_button": [
+              0.13108681142330167,
+              -0.37943768501281727,
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+            "closest_active_finger_minus_button": [
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+              0.015253126621246227,
+              0.034340083599090576
+            ],
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+            "closest_contact_pad": [
+              0.1310701668262481,
+              -0.38099019725456085,
+              0.7908195705762643
+            ],
+            "closest_contact_pad_button": [
+              0.1310701668262481,
+              -0.379435896873474,
+              0.7697645425796509
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015543003810868372,
+              0.021055027996613407
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1215c330c69fa90a2377de156b8954cceee2ac34df1b93247aa24bac41dcd387",
+    "visual_seed": 7498139182538592588,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..042340134af2a611dcc88648ed1ed492b75b3660
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+              0.33120776166087484,
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+              0.3260970119681871,
+              1.0481013232738807
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+              0.005110749692687766,
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+            "object_to_gripper_z": 0.0015343485861860628,
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+              0.3064969469924654,
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+              1.0496356718600668
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+              0.31885235432667014,
+              1.0496356718600668
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+              0.012355407334204704,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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/target_beaker/mesh"
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+                {
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.32888192949661954,
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
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+            "held_gripper_dist": 0.007703384687338316,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014337859759971927,
+            "max_held_gripper_z_dist": 0.0015562393259700436,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0894591273829658,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3074154747138007,
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+              0.3205073909891435,
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+            "held_grasp_object_position": [
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+              1.239633042592566
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9945803492569382,
+              0.024020521460872746
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036126633042103556,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.28682135480211063,
+              -0.31908130857970873,
+              0.8470209429542932
+            ],
+            "target_position": [
+              0.2798957170617866,
+              -0.32110426616540355,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007215040921832699,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18578483355419487,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470209429542932,
+            "min_z": 0.5730800627579278,
+            "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": 0.07576808407442373,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530888276834574,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15371936964505242,
+            "release_required_pad_clearance": 0.05265444138417287,
+            "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": 0.36042145734636316,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0071184635162353516,
+            "max_z_decrease": 0.0071184635162353516,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035139360587247676,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0071184635162353516,
+            "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": 0.021094700603244896,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.0071184635162353516,
+            "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": 0.007118481676456519,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1355956494808197,
+              -0.3773657381534576,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1355956494808197,
+              -0.3773657381534576,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13442474599310508,
+              -0.37753293920617537,
+              0.808064884466308
+            ],
+            "closest_button": [
+              0.1355844587087631,
+              -0.3773695230484008,
+              0.7729450464248657
+            ],
+            "closest_ee_minus_button": [
+              -0.0011597127156580123,
+              -0.000163416157774543,
+              0.03511983804144225
+            ],
+            "button_min_z_position": [
+              0.1355795860290527,
+              -0.3773664534091949,
+              0.7696903944015503
+            ],
+            "min_active_finger_to_button": 0.14720819174428632,
+            "closest_active_finger": [
+              0.006176255643367767,
+              -0.4386497437953949,
+              0.8108049035072327
+            ],
+            "closest_active_finger_button": [
+              0.1355958580970764,
+              -0.3773681819438934,
+              0.7766671180725098
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12941960245370862,
+              -0.06128156185150152,
+              0.0341377854347229
+            ],
+            "min_contact_pad_to_button": 0.021094700603244896,
+            "closest_contact_pad": [
+              0.1355795860290527,
+              -0.3788943621769652,
+              0.7907296883140824
+            ],
+            "closest_contact_pad_button": [
+              0.1355795860290527,
+              -0.3773664534091949,
+              0.7696903944015503
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001527908767770314,
+              0.02103929391253212
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c546f3d3c28a6116ca5d18c077ceb15fb0cbfb346360cce88f78ac01e808974",
+    "visual_seed": 5589922234855491967,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f5e540fc7b70859c1a16de3dfe36540bfe61445
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34825065602330463,
+              0.33231872460119555,
+              1.0516010030288128
+            ],
+            "current_z": 1.0516010030288128,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19501443601560242,
+            "gripper_z": 1.049971130259447,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34263873128602307,
+              0.3272068522379093,
+              1.049971130259447
+            ],
+            "object_minus_gripper": [
+              0.0056119247372815595,
+              0.005111872363286252,
+              0.00162987276936577
+            ],
+            "object_to_gripper_xy": 0.007591109162397974,
+            "object_to_gripper_z": 0.00162987276936577,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34825065602330463,
+              0.30753382979487165,
+              1.0516010030288128
+            ],
+            "finger_b": [
+              0.3359756262014008,
+              0.33231872460119555,
+              1.0516010030288128
+            ],
+            "finger_midpoint": [
+              0.3421131411123527,
+              0.31992627719803357,
+              1.0516010030288128
+            ],
+            "object_minus_finger_midpoint": [
+              0.006137514910951936,
+              0.012392447403161977,
+              0.0
+            ],
+            "finger_gap": 0.027658043453743602,
+            "fingertip_max_gap": 0.09161557683976365,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013829021726871839,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0516010030288128,
+            "object_top_z": 1.0975064476130458,
+            "finger_top_clearance": 0.04590544458423307,
+            "fingertip_min_top_clearance": 0.013771633375269954,
+            "object_projection_between_fingers": 0.8030290395474065,
+            "object_to_finger_line_xy": 0.010999885924295046,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830778841988183,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6254715932901445,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "heat_button",
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+        "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
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
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+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c294526ef288ad0bfbfe27f6d7dee9e5e901802e6e7e47a7d90790b213535b3",
+    "visual_seed": 2149081458432510064,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e96f854b70b6d10c4ff5728d35121b140f772a80
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.3347451961858966,
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+              0.32218735289712375,
+              1.051399617205037
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+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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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",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.32524011747898873,
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+            "held_grasp_world_z_skew": 0.0,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.1526806224349834,
+            "release_required_pad_clearance": 0.05388921186970219,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7876244777874684,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.007185816764831543,
+            "max_z_decrease": 0.007185816764831543,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035158187431238525,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007185816764831543,
+            "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": 0.02108745122720922,
+            "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": 0.007185816764831543,
+            "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": 0.007185838249846825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1317457258701324,
+              -0.38103222846984863,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1317457258701324,
+              -0.38103222846984863,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13308186770849803,
+              -0.3802393105172267,
+              0.8080129113222594
+            ],
+            "closest_button": [
+              0.13173462450504297,
+              -0.38103485107421875,
+              0.7728895545005798
+            ],
+            "closest_ee_minus_button": [
+              0.0013472432034550563,
+              0.0007955405569920471,
+              0.03512335682167955
+            ],
+            "button_min_z_position": [
+              0.13172817230224604,
+              -0.3810330331325531,
+              0.7696230411529541
+            ],
+            "min_active_finger_to_button": 0.14462860328662322,
+            "closest_active_finger": [
+              0.005146592855453491,
+              -0.44203296303749084,
+              0.8108000755310059
+            ],
+            "closest_active_finger_button": [
+              0.13174557685852045,
+              -0.38103270530700684,
+              0.7766079902648926
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12659898400306696,
+              -0.06100025773048401,
+              0.03419208526611328
+            ],
+            "min_contact_pad_to_button": 0.02108745122720922,
+            "closest_contact_pad": [
+              0.13172817230224604,
+              -0.38149823254942433,
+              0.7907053604931612
+            ],
+            "closest_contact_pad_button": [
+              0.13172817230224604,
+              -0.3810330331325531,
+              0.7696230411529541
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00046519941687123145,
+              0.0210823193402071
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e879c64a8849c6eeaa0f99d76ba0bf5eedcf83caafd957071e62d1377d60d5fd",
+    "visual_seed": 6713962842886225373,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdc9b512e95c99e1023f4f0011b4ccea9103e793
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34443007253075913,
+              0.3347234640625871,
+              1.0490642063671214
+            ],
+            "current_z": 1.0490642063671214,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1924777585632006,
+            "gripper_z": 1.0475522346868995,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33893315076378605,
+              0.32952698080239295,
+              1.0475522346868995
+            ],
+            "object_minus_gripper": [
+              0.005496921766973084,
+              0.005196483260194118,
+              0.0015119716802218797
+            ],
+            "object_to_gripper_xy": 0.007564362972894689,
+            "object_to_gripper_z": 0.0015119716802218797,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34443007253075913,
+              0.31011889249130226,
+              1.0490642063671214
+            ],
+            "finger_b": [
+              0.3319261441908557,
+              0.3347234640625871,
+              1.0490642063671214
+            ],
+            "finger_midpoint": [
+              0.3381781083608074,
+              0.32242117827694466,
+              1.0490642063671214
+            ],
+            "object_minus_finger_midpoint": [
+              0.006251964169951718,
+              0.012302285785642408,
+              0.0
+            ],
+            "finger_gap": 0.02759951387499275,
+            "fingertip_max_gap": 0.09254736873708105,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013799756937496375,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490642063671214,
+            "object_top_z": 1.0955685858544686,
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+            "fingertip_min_top_clearance": 0.013951313846204193,
+            "object_projection_between_fingers": 0.7947467290645148,
+            "object_to_finger_line_xy": 0.011147073138854402,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877368436854053,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9347217593659362,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34531658693146267,
+              0.3330378134319665,
+              1.237616208173452
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+            "held_position": [
+              0.35130605543147775,
+              0.33768850778640774,
+              1.239031807916072
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007714052989344218,
+            "max_held_gripper_dist": 0.007716262814836889,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014155997426199551,
+            "max_held_gripper_z_dist": 0.0015302348434409474,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08918582197484742,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35130605543147775,
+              0.3117947016008317,
+              1.239031807916072
+            ],
+            "held_grasp_finger_b": [
+              0.3411707493037829,
+              0.33768850778640774,
+              1.239031807916072
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+            "held_grasp_midpoint": [
+              0.3462384023676303,
+              0.32474160469361973,
+              1.239031807916072
+            ],
+            "held_grasp_object_position": [
+              0.35130605543147775,
+              0.33768850778640774,
+              1.239031807916072
+            ],
+            "held_grasp_finger_gap": 0.02780671913545832,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024726255912101355,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10126071362223621,
+              -0.9945453387118061,
+              0.02501673686423911
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+                "/World/target_beaker"
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2874384717078608,
+              -0.3240499685471074,
+              0.8470194887440899
+            ],
+            "target_position": [
+              0.28062221875900656,
+              -0.3258479816129024,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007049408148740838,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18771819364083775,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194887440899,
+            "min_z": 0.5730800627579278,
+            "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": 0.0753059896738825,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08654731654211294,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15661017329136764,
+            "release_required_pad_clearance": 0.05327365827105647,
+            "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": 1.5666936692314848,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007351517677307129,
+            "max_z_decrease": 0.007351517677307129,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514148233944625,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007351517677307129,
+            "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": 0.021073461077691456,
+            "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": 0.007351517677307129,
+            "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": 0.007351537672089533,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13632214069366452,
+              -0.3821094334125518,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13632214069366452,
+              -0.3821094334125518,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13606310187715265,
+              -0.38116794381326424,
+              0.8078966839166063
+            ],
+            "closest_button": [
+              0.13630977272987366,
+              -0.38211366534233093,
+              0.7727687954902649
+            ],
+            "closest_ee_minus_button": [
+              -0.0002466708527210093,
+              0.0009457215290666898,
+              0.0351278884263414
+            ],
+            "button_min_z_position": [
+              0.13630503416061399,
+              -0.38211059570312494,
+              0.7694573402404785
+            ],
+            "min_active_finger_to_button": 0.14594979578914083,
+            "closest_active_finger": [
+              0.007848739624023438,
+              -0.44236189126968384,
+              0.810610294342041
+            ],
+            "closest_active_finger_button": [
+              0.1363216936588287,
+              -0.3821106255054474,
+              0.7764660716056824
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12847295403480527,
+              -0.06025126576423645,
+              0.03414422273635864
+            ],
+            "min_contact_pad_to_button": 0.021073461077691456,
+            "closest_contact_pad": [
+              0.13630503416061399,
+              -0.3824950012306534,
+              0.7905272950145966
+            ],
+            "closest_contact_pad_button": [
+              0.13630503416061399,
+              -0.38211059570312494,
+              0.7694573402404785
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003844055275284419,
+              0.021069954774118105
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "385bc68b6e5c38b0fd199ccbf49a3851679b5a7442b3e9a3390b23fd9298e763",
+    "visual_seed": 4824579928171879393,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c65d552c1738139af56090329b2fb081c3c886bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34767595186828665,
+              0.32801270059749293,
+              1.0498636912231825
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+            "current_z": 1.0498636912231825,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1932771838146169,
+            "gripper_z": 1.0492974071296233,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3416685923818248,
+              0.32272326934275647,
+              1.0492974071296233
+            ],
+            "object_minus_gripper": [
+              0.006007359486461861,
+              0.005289431254736465,
+              0.0005662840935591884
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+            "object_to_gripper_xy": 0.008004152109884363,
+            "object_to_gripper_z": 0.0005662840935591884,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34767595186828665,
+              0.30291051437425986,
+              1.0498636912231825
+            ],
+            "finger_b": [
+              0.33521474886735764,
+              0.32801270059749293,
+              1.0498636912231825
+            ],
+            "finger_midpoint": [
+              0.34144535036782214,
+              0.31546160748587637,
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+              0.12916946411132812,
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+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12864964455366135,
+              -0.061898320913314875,
+              0.03425019979476929
+            ],
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+            "closest_contact_pad": [
+              0.12914974987506864,
+              -0.3830858404048317,
+              0.7907793017301223
+            ],
+            "closest_contact_pad_button": [
+              0.12914974987506864,
+              -0.3820590078830719,
+              0.7697317004203796
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010268325217597796,
+              0.021047601309742703
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca94f6a25b9c2f6ff0f6e601a04a9e7ad9f54c508cca03009a1cc8f9af0f331f",
+    "visual_seed": 5560217921007719252,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f0795490ccf8064bcedebcb17c464916388d4ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+          "skill": "pick",
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+            "active_arm": null,
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+              0.33123894872325205,
+              1.0495696361832243
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+            "gripper_z": 1.0481144494141919,
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+              0.344305170350668,
+              0.32613593430110516,
+              1.0481144494141919
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+              0.0056779723649986735,
+              0.00510301442214689,
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+            "object_to_gripper_z": 0.001455186769032446,
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+              0.30636936575531437,
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+              1.0495696361832243
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+              0.31880415723928324,
+              1.0495696361832243
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+              0.01243479148396881,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835119281759105,
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+              0.0,
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                },
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007790043868552224,
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+            "held_gripper_z_dist": 0.0013532092154031616,
+            "max_held_gripper_z_dist": 0.0014768430699338975,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08958232449512943,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.30759978048130154,
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+              0.32060143292590704,
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+              0.33360308537051253,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9954859792035013,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037947618051486407,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.28704821896663024,
+              -0.32457862076122135,
+              0.8470209314545476
+            ],
+            "target_position": [
+              0.27939293563976625,
+              -0.3270317360079136,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00803872733883391,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18649530792306515,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470209314545476,
+            "min_z": 0.5730800627579278,
+            "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": 0.07588411987283025,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851213243902345,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15405818504473168,
+            "release_required_pad_clearance": 0.05256066219511725,
+            "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": 0.18556640710613964,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007094383239746094,
+            "max_z_decrease": 0.007094383239746094,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512758766039996,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007094383239746094,
+            "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": 0.02108157515061837,
+            "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": 0.007094383239746094,
+            "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": 0.007094400624871899,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1350928544998169,
+              -0.3832931816577911,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1350928544998169,
+              -0.3832931816577911,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13479287079349087,
+              -0.38205809899191046,
+              0.8082711785362687
+            ],
+            "closest_button": [
+              0.1350871324539184,
+              -0.38329300284385676,
+              0.7731665372848511
+            ],
+            "closest_ee_minus_button": [
+              -0.0002942616604275361,
+              0.0012349038519463007,
+              0.035104641251417656
+            ],
+            "button_min_z_position": [
+              0.13507714867591855,
+              -0.38329315185546864,
+              0.7697144746780396
+            ],
+            "min_active_finger_to_button": 0.14589951180606597,
+            "closest_active_finger": [
+              0.008543320000171661,
+              -0.4472849369049072,
+              0.8106870651245117
+            ],
+            "closest_active_finger_button": [
+              0.13509273529052732,
+              -0.3832933902740478,
+              0.7763797044754028
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12654941529035565,
+              -0.06399154663085943,
+              0.03430736064910889
+            ],
+            "min_contact_pad_to_button": 0.02108157515061837,
+            "closest_contact_pad": [
+              0.13507714867591855,
+              -0.38329315185546864,
+              0.7907960498286579
+            ],
+            "closest_contact_pad_button": [
+              0.13507714867591855,
+              -0.38329315185546864,
+              0.7697144746780396
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108157515061837
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1490ffd14b20e2d5985af6f6ec16b48ca378794e0eaa66e01d6d72686486c7ec",
+    "visual_seed": 6220183229999078886,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..20a80ba5675da0899e86964eb0200404feaee9a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3502820397973814,
+              0.33427788693106486,
+              1.048914368890694
+            ],
+            "current_z": 1.048914368890694,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19232786148212833,
+            "gripper_z": 1.047246184458227,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3447112202566921,
+              0.3290748659471323,
+              1.047246184458227
+            ],
+            "object_minus_gripper": [
+              0.005570819540689276,
+              0.005203020983932549,
+              0.001668184432466857
+            ],
+            "object_to_gripper_xy": 0.0076226935996514976,
+            "object_to_gripper_z": 0.001668184432466857,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3502820397973814,
+              0.30961181941832217,
+              1.048914368890694
+            ],
+            "finger_b": [
+              0.3377847014599912,
+              0.33427788693106486,
+              1.048914368890694
+            ],
+            "finger_midpoint": [
+              0.3440333706286863,
+              0.3219448531746935,
+              1.048914368890694
+            ],
+            "object_minus_finger_midpoint": [
+              0.006248669168695098,
+              0.012333033756371348,
+              0.0
+            ],
+            "finger_gap": 0.027651371612677434,
+            "fingertip_max_gap": 0.09035135860176577,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013825685806338717,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048914368890694,
+            "object_top_z": 1.0942304894531485,
+            "finger_top_clearance": 0.0453161205624546,
+            "fingertip_min_top_clearance": 0.01359483616873638,
+            "object_projection_between_fingers": 0.7957313600036902,
+            "object_to_finger_line_xy": 0.011148097659586792,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04767567930088289,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.19291027194983695,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
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+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b4f379dceed07fb5b0878dab973bdee0c75a75181c0f73c82bb0d8c4662c91d5",
+    "visual_seed": 1945633631207256342,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21e9e130b79fa96eb9b5a979a1c097f26fd1d877
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.3282635835685504,
+              1.0484050681684682
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+              0.005256154632784948,
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+              0.3035514269277877,
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+              0.315907505248169,
+              1.0484050681684682
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+              1.0
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+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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",
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+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.3311747600364863,
+              1.238452195602758
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+            "held_shake_count": 5,
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+            "held_object_xy_range": 0.08935700092104504,
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+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+        "post_done_wait_frames": 0,
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.1575636437466855,
+            "release_required_pad_clearance": 0.05330924561440324,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.6365767360010255,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007284581661224365,
+            "max_z_decrease": 0.007284581661224365,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035158868628862215,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007284581661224365,
+            "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": 0.021218946881464213,
+            "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": 0.007284581661224365,
+            "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": 0.007284602263073236,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13434287905693054,
+              -0.37880948185920715,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13434287905693054,
+              -0.37880948185920715,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13545562351895332,
+              -0.3801167817744243,
+              0.8079528527641819
+            ],
+            "closest_button": [
+              0.13433131575584412,
+              -0.3788132965564728,
+              0.7728361487388611
+            ],
+            "closest_ee_minus_button": [
+              0.0011243077631092058,
+              -0.0013034852179515388,
+              0.035116704025320855
+            ],
+            "button_min_z_position": [
+              0.13432557880878448,
+              -0.37881040573120117,
+              0.7695242762565613
+            ],
+            "min_active_finger_to_button": 0.1449416304870463,
+            "closest_active_finger": [
+              -0.005667395889759064,
+              -0.36360472440719604,
+              0.8108100295066833
+            ],
+            "closest_active_finger_button": [
+              0.1343427300453186,
+              -0.3788108229637146,
+              0.7765461206436157
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14001012593507767,
+              0.015206098556518555,
+              0.03426390886306763
+            ],
+            "min_contact_pad_to_button": 0.021218946881464213,
+            "closest_contact_pad": [
+              0.13432557880878448,
+              -0.38126978333256684,
+              0.7906002143987247
+            ],
+            "closest_contact_pad_button": [
+              0.13432557880878448,
+              -0.37881040573120117,
+              0.7695242762565613
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024593776013656643,
+              0.021075938142163464
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "515f26120780dd7f948f6349652ef1c12098ecc95d8486239011a36690b14c2f",
+    "visual_seed": 2995121341651676176,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bed201c87a21968c4842ac9a4519896358a037a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35026112748196714,
+              0.3289190136584356,
+              1.0488923747498013
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+            "lift_margin": 0.19230586734123578,
+            "gripper_z": 1.0475875281638949,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34467938771050166,
+              0.32373977996960207,
+              1.0475875281638949
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+              0.005581739771465477,
+              0.005179233688833551,
+              0.0013048465859064606
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+            "object_to_gripper_z": 0.0013048465859064606,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.35026112748196714,
+              0.3042756792753121,
+              1.0488923747498013
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+            "finger_b": [
+              0.3377394730678257,
+              0.3289190136584356,
+              1.0488923747498013
+            ],
+            "finger_midpoint": [
+              0.3440003002748964,
+              0.3165973464668739,
+              1.0488923747498013
+            ],
+            "object_minus_finger_midpoint": [
+              0.006260827207070718,
+              0.012321667191561747,
+              0.0
+            ],
+            "finger_gap": 0.027642101200625546,
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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_top_z": 1.0949275497684667,
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+            "object_projection_between_fingers": 0.7947981264349437,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048329781034763694,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5286688680373073,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35122945227445856,
+              0.32666729428627916,
+              1.2355849370448437
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+              0.3312625548921501,
+              1.236758120602277
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007724938678808052,
+            "max_held_gripper_dist": 0.00772624499863814,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011731835574333438,
+            "max_held_gripper_z_dist": 0.0013136160006690378,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08963287558702648,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.30529880060038234,
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+            "held_grasp_midpoint": [
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+              0.3182806777462662,
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+            "held_grasp_object_position": [
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+              0.3312625548921501,
+              1.236758120602277
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+            "held_grasp_finger_gap": 0.02781444592960228,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024837509040955066,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09945184893643301,
+              -0.994835790898645,
+              0.02027508052246829
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00368213823703626,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03178930745073942,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.286773191015572,
+              -0.3175896079930715,
+              0.847019082098559
+            ],
+            "target_position": [
+              0.2792634696999878,
+              -0.31979629606112364,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007827220864867944,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18564645486221995,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019082098559,
+            "min_z": 0.5730800627579278,
+            "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": 0.0751541244964851,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08674462495211742,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15518127325457107,
+            "release_required_pad_clearance": 0.05337231247605871,
+            "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": 1.7592000132474648,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0068749189376831055,
+            "max_z_decrease": 0.0068749189376831055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035189873102590176,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0068749189376831055,
+            "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": 0.021052591883904542,
+            "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": 0.0068749189376831055,
+            "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": 0.0068749359412955706,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13496339321136472,
+              -0.3760577440261841,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13496339321136472,
+              -0.3760577440261841,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13330008657636935,
+              -0.37478867825508116,
+              0.8074654100319915
+            ],
+            "closest_button": [
+              0.13495080173015592,
+              -0.37605464458465576,
+              0.7723370790481567
+            ],
+            "closest_ee_minus_button": [
+              -0.0016507151537865639,
+              0.001265966329574597,
+              0.03512833098383472
+            ],
+            "button_min_z_position": [
+              0.13494811952114102,
+              -0.3760584592819214,
+              0.7699339389801025
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+            "min_active_finger_to_button": 0.14695272841076687,
+            "closest_active_finger": [
+              0.005153335630893707,
+              -0.43586665391921997,
+              0.8104463815689087
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+            "closest_active_finger_button": [
+              0.13496324419975278,
+              -0.3760600686073303,
+              0.7762752771377563
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12980990856885907,
+              -0.05980658531188965,
+              0.034171104431152344
+            ],
+            "min_contact_pad_to_button": 0.021052591883904542,
+            "closest_contact_pad": [
+              0.13494811952114102,
+              -0.37618161244242393,
+              0.7909861706510989
+            ],
+            "closest_contact_pad_button": [
+              0.13494811952114102,
+              -0.3760584592819214,
+              0.7699339389801025
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00012315316050254266,
+              0.021052231670996346
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "01393fa880852d5641d9959cb70c0d9c2447c7f7fa563d55c6e68e1285e74e85",
+    "visual_seed": 2647707621346224794,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c85109b721e05b56229ab6e55774cac4580d417b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35194067132674706,
+              0.335557023757864,
+              1.0487407463720317
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+            "current_z": 1.0487407463720317,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19215423896346617,
+            "gripper_z": 1.0469823197145551,
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+            "gripper_position": [
+              0.3463967958179535,
+              0.3303688696161756,
+              1.0469823197145551
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+            "object_minus_gripper": [
+              0.005543875508793539,
+              0.005188154141688384,
+              0.0017584266574766083
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+            "object_to_gripper_xy": 0.007592858424527561,
+            "object_to_gripper_z": 0.0017584266574766083,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35194067132674706,
+              0.3109062887715245,
+              1.0487407463720317
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+            "finger_b": [
+              0.3394675950952906,
+              0.335557023757864,
+              1.0487407463720317
+            ],
+            "finger_midpoint": [
+              0.34570413321101884,
+              0.32323165626469424,
+              1.0487407463720317
+            ],
+            "object_minus_finger_midpoint": [
+              0.0062365381157282185,
+              0.012325367493169759,
+              0.0
+            ],
+            "finger_gap": 0.02762673281520033,
+            "fingertip_max_gap": 0.09090455731508332,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013813366407600164,
+            "object_to_finger_midpoint_z": 0.0,
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+              -0.3830869547534413,
+              0.7907020348073898
+            ],
+            "closest_contact_pad_button": [
+              0.13159534335136414,
+              -0.3820265531539916,
+              0.769642174243927
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010604015994497007,
+              0.021059860563462762
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "332d3cbc675fdf8136e7510bfbd889c3f89359f471ea2c9bfa14617562515ee6",
+    "visual_seed": 8430310378581028381,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7314783c240fd925a1b05bdaabdb55e0d2498b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.34555794610557994,
+              0.3324004357364325,
+              1.0495513082661148
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+            "gripper_z": 1.04817467200822,
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+            "gripper_position": [
+              0.33991329117082897,
+              0.32731671858239364,
+              1.04817467200822
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+              0.00508371715403888,
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+              0.30754193398152324,
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+              1.0495513082661148
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+              0.3199711848589779,
+              1.0495513082661148
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+              0.012429250877454612,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 231,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+            "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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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+            ],
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+              0.27787616546363103,
+              -0.32087559591933495,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006920487993212226,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18556165738450375,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196682086768,
+            "min_z": 0.5730800627579278,
+            "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": 0.07547846908968528,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553303240543962,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15403615193066242,
+            "release_required_pad_clearance": 0.05276651620271981,
+            "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": 0.5814799430797819,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0070885419845581055,
+            "max_z_decrease": 0.0070885419845581055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035125375909138466,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0070885419845581055,
+            "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": 0.02116021709760302,
+            "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": 0.0070885419845581055,
+            "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": 0.007088563687349583,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13357609510421747,
+              -0.37713706493377686,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13357609510421747,
+              -0.37713706493377686,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13259451141882006,
+              -0.3781805474495977,
+              0.8080977476910146
+            ],
+            "closest_button": [
+              0.13356545567512507,
+              -0.37714073061943054,
+              0.7730011940002441
+            ],
+            "closest_ee_minus_button": [
+              -0.0009709442563050064,
+              -0.001039816830167184,
+              0.03509655369077047
+            ],
+            "button_min_z_position": [
+              0.1335585713386535,
+              -0.3771362900733948,
+              0.7697203159332275
+            ],
+            "min_active_finger_to_button": 0.1470080648511977,
+            "closest_active_finger": [
+              -0.0085974782705307,
+              -0.3622557818889618,
+              0.8110324144363403
+            ],
+            "closest_active_finger_button": [
+              0.133578211069107,
+              -0.37713825702667236,
+              0.7767401933670044
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1421756893396377,
+              0.014882475137710571,
+              0.03429222106933594
+            ],
+            "min_contact_pad_to_button": 0.02116021709760302,
+            "closest_contact_pad": [
+              0.1335585713386535,
+              -0.37934149585277466,
+              0.7907653118963605
+            ],
+            "closest_contact_pad_button": [
+              0.1335585713386535,
+              -0.3771362900733948,
+              0.7697203159332275
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002205205779379882,
+              0.021044995963132918
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e214ce51d338644998658ba159282aac1fcf9158e11e9102c5afb341fea367d8",
+    "visual_seed": 7791790096407454322,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0708086a8789570906b28e4c28fb2ce8553c643e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3477779490319065,
+              0.330368657022627,
+              1.050896570783429
+            ],
+            "current_z": 1.050896570783429,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.19430988456092912,
+            "gripper_z": 1.0493727359806666,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34217545116813325,
+              0.32519872625378643,
+              1.0493727359806666
+            ],
+            "object_minus_gripper": [
+              0.005602497863773259,
+              0.0051699307688405916,
+              0.0015238348027624138
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+            "object_to_gripper_xy": 0.007623395993137744,
+            "object_to_gripper_z": 0.0015238348027624138,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3477779490319065,
+              0.30567460916297595,
+              1.050896570783429
+            ],
+            "finger_b": [
+              0.3353106037829683,
+              0.330368657022627,
+              1.050896570783429
+            ],
+            "finger_midpoint": [
+              0.3415442764074374,
+              0.3180216330928015,
+              1.050896570783429
+            ],
+            "object_minus_finger_midpoint": [
+              0.006233672624469111,
+              0.012347023929825507,
+              0.0
+            ],
+            "finger_gap": 0.027662803495867153,
+            "fingertip_max_gap": 0.09126932035394905,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013831401747933552,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050896570783429,
+            "object_top_z": 1.096826094722752,
+            "finger_top_clearance": 0.045929523939322925,
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+            "object_projection_between_fingers": 0.7968786431142777,
+            "object_to_finger_line_xy": 0.011129357163892307,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813466017697453,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5199117475696725,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c402a34170fa6f4db037dd7dd76faf78605b2b5fdfbd2e2b5c3a1dc1475f14b",
+    "visual_seed": 6974593023177919424,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c2ba50e558d0f66dd17f4bf37dfdf10617ea4c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+          "failure_messages": {},
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+                "Robotiq2F85",
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+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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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+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+                },
+                {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_messages": {},
+          "safety": {
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+              ],
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+                "/World/target_beaker"
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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"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "target": "heater_platform",
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+      "reason": "executed",
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+        "checker": {
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
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+                "heater_platform"
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_leftfingertip",
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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",
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+                "wrist_2_joint",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006947159767150879,
+            "max_z_decrease": 0.006947159767150879,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514024490019888,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006947159767150879,
+            "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": 0.021227641674697532,
+            "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": 0.006947159767150879,
+            "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": 0.006947181308256892,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13168780505657193,
+              -0.37602129578590393,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13168780505657193,
+              -0.37602129578590393,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13135651086761901,
+              -0.3774491399420601,
+              0.8082139447718317
+            ],
+            "closest_button": [
+              0.13167870044708246,
+              -0.37602442502975464,
+              0.7731040716171265
+            ],
+            "closest_ee_minus_button": [
+              -0.00032218957946344995,
+              -0.001424714912305447,
+              0.03510987315470526
+            ],
+            "button_min_z_position": [
+              0.1316705048084259,
+              -0.37602126598358154,
+              0.7698616981506348
+            ],
+            "min_active_finger_to_button": 0.14633749295257323,
+            "closest_active_finger": [
+              -0.009755976498126984,
+              -0.3607931435108185,
+              0.8105672597885132
+            ],
+            "closest_active_finger_button": [
+              0.1316877901554107,
+              -0.37602248787879944,
+              0.776268720626831
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1414437666535377,
+              0.015229344367980957,
+              0.03429853916168213
+            ],
+            "min_contact_pad_to_button": 0.021227641674697532,
+            "closest_contact_pad": [
+              0.1316705048084259,
+              -0.3786672252050567,
+              0.7909237889981182
+            ],
+            "closest_contact_pad_button": [
+              0.1316705048084259,
+              -0.37602126598358154,
+              0.7698616981506348
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002645959221475147,
+              0.02106209084748345
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c37cbdd80547015d62875367025314cca1171fecb2ae58556c7012a057b72c0",
+    "visual_seed": 1484357751904534514,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f55a5961b077e029654d63da73d50a1b156274ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3441112244303512,
+              0.3298208799181218,
+              1.0498833348214032
+            ],
+            "current_z": 1.0498833348214032,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19329676780819283,
+            "gripper_z": 1.0502594381992956,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3382612119479699,
+              0.3245925813225732,
+              1.0502594381992956
+            ],
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+              0.005850012482381317,
+              0.0052282985955486305,
+              -0.00037610337789240056
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+            "object_to_gripper_xy": 0.007845874855504196,
+            "object_to_gripper_z": -0.00037610337789240056,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3441112244303512,
+              0.304759633193679,
+              1.0498833348214032
+            ],
+            "finger_b": [
+              0.33182879841673857,
+              0.3298208799181218,
+              1.0498833348214032
+            ],
+            "finger_midpoint": [
+              0.3379700114235449,
+              0.3172902565559004,
+              1.0498833348214032
+            ],
+            "object_minus_finger_midpoint": [
+              0.006141213006806312,
+              0.012530623362221438,
+              0.0
+            ],
+            "finger_gap": 0.027909211313888183,
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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": 1.0952656993354206,
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+            "object_projection_between_fingers": 0.8063251690422162,
+            "object_to_finger_line_xy": 0.01102907944047442,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04806412485294774,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0779687734385277,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3444675309829738,
+              0.32804452735079703,
+              1.2385527532074811
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+            "held_position": [
+              0.35068412001625254,
+              0.33282382146039585,
+              1.2380724715344014
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007856099660787411,
+            "max_held_gripper_dist": 0.007857758400909269,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004802816730797854,
+            "max_held_gripper_z_dist": 0.0006802856855967487,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08943908725403388,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35068412001625254,
+              0.30685855478825386,
+              1.2380724715344014
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+            "held_grasp_finger_b": [
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+              0.33282382146039585,
+              1.2380724715344014
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+            "held_grasp_midpoint": [
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+              0.3198411881243248,
+              1.2380724715344014
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+            "held_grasp_object_position": [
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+              0.33282382146039585,
+              1.2380724715344014
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+            "held_grasp_finger_gap": 0.027982667579607202,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025345724645554558,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055525891025417044,
+              -0.9984489019530517,
+              0.00408235404869417
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004487591814798492,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03194809529086971,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2830315495229932,
+              -0.3175281481420703,
+              0.8470197588288317
+            ],
+            "target_position": [
+              0.2750108511212865,
+              -0.3206232078644834,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008597150547503775,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1872498852212335,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197588288317,
+            "min_z": 0.5730800627579278,
+            "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": 0.07540966030468288,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646234010063082,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15619354662013193,
+            "release_required_pad_clearance": 0.05323117005031541,
+            "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": 1.4824983036214625,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007014095783233643,
+            "max_z_decrease": 0.007014095783233643,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351489403341353,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007014095783233643,
+            "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": 0.02125662489236206,
+            "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": 0.007014095783233643,
+            "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": 0.007014121398502914,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13071078062057492,
+              -0.37688466906547546,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13071078062057492,
+              -0.37688466906547546,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.131192940178386,
+              -0.37846254111380817,
+              0.8081748869527157
+            ],
+            "closest_button": [
+              0.1307008117437362,
+              -0.3768881559371948,
+              0.7730646729469299
+            ],
+            "closest_ee_minus_button": [
+              0.0004921284346497967,
+              -0.0015743851766133465,
+              0.035110214005785734
+            ],
+            "button_min_z_position": [
+              0.13069182634353635,
+              -0.376884400844574,
+              0.769794762134552
+            ],
+            "min_active_finger_to_button": 0.14553322331915516,
+            "closest_active_finger": [
+              -0.009915575385093689,
+              -0.3618015646934509,
+              0.8111118078231812
+            ],
+            "closest_active_finger_button": [
+              0.13070999085903162,
+              -0.37688592076301575,
+              0.7768068313598633
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1406255662441253,
+              0.01508435606956482,
+              0.03430497646331787
+            ],
+            "min_contact_pad_to_button": 0.02125662489236206,
+            "closest_contact_pad": [
+              0.13069182634353635,
+              -0.3796767950567953,
+              0.7908671762434798
+            ],
+            "closest_contact_pad_button": [
+              0.13069182634353635,
+              -0.376884400844574,
+              0.769794762134552
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027923942122213274,
+              0.021072414108927795
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "04703587771f7cc732be29b40d978ff19e6644f8b81e93d5d7cfb23f4544515d",
+    "visual_seed": 1567928268695030585,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7bcf50cc81e0b8308053a227027e59025c46b1d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.33194900273755906,
+              1.0491967314430786
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+            "lift_margin": 0.19261016442986822,
+            "gripper_z": 1.0478129338017699,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.34484031484050315,
+              0.3268110482083697,
+              1.0478129338017699
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+              0.00562433778624033,
+              0.005137954529189359,
+              0.0013837976413086928
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+            "object_to_gripper_xy": 0.007617857459794599,
+            "object_to_gripper_z": 0.0013837976413086928,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3504646526267435,
+              0.3071721099310755,
+              1.0491967314430786
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+            "finger_b": [
+              0.3381378843448815,
+              0.33194900273755906,
+              1.0491967314430786
+            ],
+            "finger_midpoint": [
+              0.3443012684858125,
+              0.3195605563343173,
+              1.0491967314430786
+            ],
+            "object_minus_finger_midpoint": [
+              0.006163384140930983,
+              0.01238844640324177,
+              0.0
+            ],
+            "finger_gap": 0.02767387998490082,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01383693999245041,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491967314430786,
+            "object_top_z": 1.0950906959884672,
+            "finger_top_clearance": 0.04589396454538863,
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+            "object_projection_between_fingers": 0.8015923752001133,
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+              -0.0013608857403800134,
+              0.021047968925251848
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98245535619bf8381673fea1a5076e151109636e444803af2baea82429949e9e",
+    "visual_seed": 5338811725291897577,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..13150dba1da3cf7676c33535fef7a225cc2be14f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.32775379645696456,
+              1.0496216373217049
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+            "gripper_z": 1.048551287460657,
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+              0.338293447496923,
+              0.3225500941587034,
+              1.048551287460657
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+              0.00520370229826117,
+              0.0010703498610478146
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+            "object_to_gripper_z": 0.0010703498610478146,
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+              0.3030783212657256,
+              1.0496216373217049
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+            "finger_midpoint": [
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+              0.31541605886134505,
+              1.0496216373217049
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+              0.012337737595619513,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048203210988302894,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
+                {
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+              ],
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007712419964046703,
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+            "held_gripper_z_dist": 0.0009748735262029573,
+            "max_held_gripper_z_dist": 0.0010880901590237801,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08941032284597739,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.30484177196036444,
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+              0.3177719401118423,
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+            "held_grasp_object_position": [
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+            "held_grasp_finger_gap": 0.027834876641027986,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024872526641790606,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004019518235262138,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
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+            "gripper_away_ok": true,
+            "object_z": 0.847019689859,
+            "min_z": 0.5730800627579278,
+            "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": 0.07520755610937102,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635304742441467,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15656114798611345,
+            "release_required_pad_clearance": 0.05317652371220734,
+            "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": 1.37512954408443,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006957709789276123,
+            "max_z_decrease": 0.006957709789276123,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511432343969418,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006957709789276123,
+            "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": 0.021103936565813726,
+            "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": 0.006957709789276123,
+            "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": 0.006957728477901853,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1288458406925201,
+              -0.3808510601520538,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1288458406925201,
+              -0.3808510601520538,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12813302699705867,
+              -0.38079019458133334,
+              0.8082194357013665
+            ],
+            "closest_button": [
+              0.12883752584457395,
+              -0.3808536231517791,
+              0.7731122374534607
+            ],
+            "closest_ee_minus_button": [
+              -0.000704498847515278,
+              6.342857044577821e-05,
+              0.03510719824790576
+            ],
+            "button_min_z_position": [
+              0.12882971763610834,
+              -0.38085073232650746,
+              0.7698511481285095
+            ],
+            "min_active_finger_to_button": 0.14676317252124277,
+            "closest_active_finger": [
+              0.0002696290612220764,
+              -0.44277018308639526,
+              0.8105399012565613
+            ],
+            "closest_active_finger_button": [
+              0.1288458704948425,
+              -0.3808521628379821,
+              0.7762800455093384
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12857624143362043,
+              -0.06191802024841314,
+              0.0342598557472229
+            ],
+            "min_contact_pad_to_button": 0.021103936565813726,
+            "closest_contact_pad": [
+              0.12882971763610834,
+              -0.38202852505245954,
+              0.7909221932584641
+            ],
+            "closest_contact_pad_button": [
+              0.12882971763610834,
+              -0.38085073232650746,
+              0.7698511481285095
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001177792725952087,
+              0.021071045129954613
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a52c5c9abebb9258d66512ba153090d43aa6c15675fc4ee8fe1c153658a24fb1",
+    "visual_seed": 146534183357618904,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ad4ff07d5605139c1367ca8227859926f655a89
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3517676161505205,
+              0.3310914767887642,
+              1.0484092519658197
+            ],
+            "current_z": 1.0484092519658197,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.191822744557254,
+            "gripper_z": 1.04706481123308,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3460988552935394,
+              0.32590050660737024,
+              1.04706481123308
+            ],
+            "object_minus_gripper": [
+              0.005668760856981092,
+              0.005190970181393972,
+              0.001344440732739649
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+            "object_to_gripper_xy": 0.007686417961427961,
+            "object_to_gripper_z": 0.001344440732739649,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3517676161505205,
+              0.3063376512732871,
+              1.0484092519658197
+            ],
+            "finger_b": [
+              0.3392917186368659,
+              0.3310914767887642,
+              1.0484092519658197
+            ],
+            "finger_midpoint": [
+              0.3455296673936932,
+              0.31871456403102566,
+              1.0484092519658197
+            ],
+            "object_minus_finger_midpoint": [
+              0.006237948756827316,
+              0.012376912757738556,
+              0.0
+            ],
+            "finger_gap": 0.02772002699172384,
+            "fingertip_max_gap": 0.09159158720134161,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013860013495861932,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484092519658197,
+            "object_top_z": 1.0944386762385865,
+            "finger_top_clearance": 0.046029424272766795,
+            "fingertip_min_top_clearance": 0.013808827281830038,
+            "object_projection_between_fingers": 0.797438782207029,
+            "object_to_finger_line_xy": 0.0111409051042477,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829579360067081,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5250652087558896,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
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+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..17bc092777c91c5dc9b12e7fb383532e3e507458
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.3311847993628081,
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+              1.0507049906546566
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+              0.005229362858999942,
+              0.0010683230918999698
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+              0.30647257690976565,
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+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              1.2392893940299883
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_required_pad_clearance": 0.0526653061275562,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.38765310809488,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+              "enabled": true
+            },
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+        "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": 3,
+      "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": 0.007178783416748047,
+            "max_z_decrease": 0.007178783416748047,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035155532043329815,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007178783416748047,
+            "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": 0.021077856951696505,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.007178783416748047,
+            "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": 0.007178804850002427,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13124984502792353,
+              -0.38161554932594294,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13124984502792353,
+              -0.38161554932594294,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1319807664644785,
+              -0.3802811919869052,
+              0.8080562765320496
+            ],
+            "closest_button": [
+              0.13123896718025202,
+              -0.38161844015121454,
+              0.7729340195655823
+            ],
+            "closest_ee_minus_button": [
+              0.0007417992842264909,
+              0.001337248164309357,
+              0.03512225696646731
+            ],
+            "button_min_z_position": [
+              0.13123232126235956,
+              -0.3816163539886474,
+              0.7696300745010376
+            ],
+            "min_active_finger_to_button": 0.1449370956869797,
+            "closest_active_finger": [
+              0.003914140164852142,
+              -0.44180572032928467,
+              0.8108544945716858
+            ],
+            "closest_active_finger_button": [
+              0.1312506645917892,
+              -0.381615787744522,
+              0.776658833026886
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12733652442693705,
+              -0.060189932584762684,
+              0.034195661544799805
+            ],
+            "min_contact_pad_to_button": 0.021077856951696505,
+            "closest_contact_pad": [
+              0.13123232126235956,
+              -0.3816163539886474,
+              0.7907079314527341
+            ],
+            "closest_contact_pad_button": [
+              0.13123232126235956,
+              -0.3816163539886474,
+              0.7696300745010376
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021077856951696505
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a81d6337b9f08581eac0bb03377c483e8f5492ea45bb2b5427ab3243b98f81e",
+    "visual_seed": 4425463102976693549,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..494bf91df8ab25b8e065b7aab60bb2127dd39dba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35176793269878376,
+              0.33297451720352234,
+              1.0502845852223137
+            ],
+            "current_z": 1.0502845852223137,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19369801820910337,
+            "gripper_z": 1.0486194912294313,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34617747247165076,
+              0.32783157376666705,
+              1.0486194912294313
+            ],
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+              0.005590460227132998,
+              0.005142943436855285,
+              0.0016650939928823938
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+            "object_to_gripper_xy": 0.007596256495527832,
+            "object_to_gripper_z": 0.0016650939928823938,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35176793269878376,
+              0.3082591613269771,
+              1.0502845852223137
+            ],
+            "finger_b": [
+              0.339377865402959,
+              0.33297451720352234,
+              1.0502845852223137
+            ],
+            "finger_midpoint": [
+              0.3455728990508714,
+              0.32061683926524975,
+              1.0502845852223137
+            ],
+            "object_minus_finger_midpoint": [
+              0.006195033647912351,
+              0.012357677938272582,
+              0.0
+            ],
+            "finger_gap": 0.027647108053092,
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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": 1.096275570036605,
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+            "object_projection_between_fingers": 0.799161064566905,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818768321167023,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5613386944430936,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3530029676926021,
+              0.3303909979434539,
+              1.2401803504133002
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+            "held_position": [
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+              0.3349640634455432,
+              1.2417597641564122
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007791165609113237,
+            "max_held_gripper_dist": 0.007791811016373809,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015794137431119903,
+            "max_held_gripper_z_dist": 0.001704535387792916,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08960920415569473,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35910991338503284,
+              0.30891618348922034,
+              1.2417597641564122
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+            "held_grasp_finger_b": [
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+              0.3220168018165625,
+              1.2417597641564122
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+            "held_grasp_object_position": [
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+              0.3349640634455432,
+              1.2417597641564122
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+            "held_grasp_finger_gap": 0.028022343005434738,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02503549042128337,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10284555359906913,
+              -0.9945134355907552,
+              0.019126383201584662
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003619477017087292,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03181300359123425,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.28468450515245075,
+              -0.3256713426825222,
+              0.8470194535220706
+            ],
+            "target_position": [
+              0.2759437811475633,
+              -0.32846990907412044,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009177811829504848,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1885788135277622,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194535220706,
+            "min_z": 0.5730800627579278,
+            "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": 0.07521061666914176,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863594575913769,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1577627636953742,
+            "release_required_pad_clearance": 0.053179728795688455,
+            "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": 1.381943103116002,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007359683513641357,
+            "max_z_decrease": 0.007359683513641357,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351454130876175,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007359683513641357,
+            "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": 0.021085631417818607,
+            "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": 0.007359683513641357,
+            "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": 0.0073597080560150645,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1316437125205993,
+              -0.38473138213157654,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1316437125205993,
+              -0.38473138213157654,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13091915228417605,
+              -0.3830758790436239,
+              0.8078804090019174
+            ],
+            "closest_button": [
+              0.13163825869560233,
+              -0.38473260402679443,
+              0.7727814316749573
+            ],
+            "closest_ee_minus_button": [
+              -0.0007191064114262791,
+              0.0016567249831705433,
+              0.0350989773269601
+            ],
+            "button_min_z_position": [
+              0.13162472844123835,
+              -0.38473045825958246,
+              0.7694491744041443
+            ],
+            "min_active_finger_to_button": 0.14610043777386678,
+            "closest_active_finger": [
+              0.004179105162620544,
+              -0.44734472036361694,
+              0.8108066916465759
+            ],
+            "closest_active_finger_button": [
+              0.1316437423229217,
+              -0.38473206758499146,
+              0.776488184928894
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12746463716030115,
+              -0.06261265277862549,
+              0.034318506717681885
+            ],
+            "min_contact_pad_to_button": 0.021085631417818607,
+            "closest_contact_pad": [
+              0.13162472844123835,
+              -0.38473045825958246,
+              0.7905348058219629
+            ],
+            "closest_contact_pad_button": [
+              0.13162472844123835,
+              -0.38473045825958246,
+              0.7694491744041443
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021085631417818607
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "440db05689d6523b7f0b377e86d8baedc79e336f1da6b2fd2eb741cefe74ba03",
+    "visual_seed": 1398832622807484326,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7da02b42991be9eac9477aca3f634fd2fde54ac2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.33142331227008076,
+              1.050387349087195
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+            "current_z": 1.050387349087195,
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+            "lift_margin": 0.19380084167862954,
+            "gripper_z": 1.0499551611465772,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3376660822790244,
+              0.3262249275257999,
+              1.0499551611465772
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+            "object_minus_gripper": [
+              0.005949680230587506,
+              0.0051983847442808595,
+              0.0004321879406179452
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+            "object_to_gripper_xy": 0.007900753052451127,
+            "object_to_gripper_z": 0.0004321879406179452,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3436157625096119,
+              0.3062970080518146,
+              1.050387349087195
+            ],
+            "finger_b": [
+              0.3313735811662126,
+              0.33142331227008076,
+              1.050387349087195
+            ],
+            "finger_midpoint": [
+              0.33749467183791226,
+              0.31886016016094765,
+              1.050387349087195
+            ],
+            "object_minus_finger_midpoint": [
+              0.006121090671699636,
+              0.012563152109133113,
+              0.0
+            ],
+            "finger_gap": 0.027949994055697643,
+            "fingertip_max_gap": 0.09255443310219316,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013974997027848846,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050387349087195,
+            "object_top_z": 1.0963226502291477,
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+            "fingertip_min_top_clearance": 0.013780590342585797,
+            "object_projection_between_fingers": 0.8081533689501605,
+            "object_to_finger_line_xy": 0.011005396713733028,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877721655109658,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1552683401279695,
+            "object_max_tilt_deg": 15.0,
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+                "/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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7eb66aa0b775f6efc47e36492da29370a9990c7af0f75006da9a899babbfab16",
+    "visual_seed": 1878510354929283743,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7982ee2241d5d798305ceb598bd5d3dfdc86bf35
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.32932204337816956,
+              1.0501681955482371
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+            "lift_margin": 0.19358174774431636,
+            "gripper_z": 1.0485361112491849,
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+            "gripper_position": [
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+              0.32415369621112433,
+              1.0485361112491849
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+              0.00551715364822547,
+              0.0051683471670452286,
+              0.001632084299052261
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+            "object_to_gripper_z": 0.001632084299052261,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30467179814465944,
+              1.0501681955482371
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+              1.0501681955482371
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+              0.3169969207614145,
+              1.0501681955482371
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+              0.012325122616755058,
+              0.0
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.011091237489867943,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485569359340071,
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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": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.3278706780437869,
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+              0.33254302259741514,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.0015352477344223736,
+            "max_held_gripper_z_dist": 0.0016507119221695898,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08970072029641141,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.319632660156202,
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+              0.33254302259741514,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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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+            "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": 0.0851156519952714,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537458533223023,
+            "release_required_pad_clearance": 0.0525578259976357,
+            "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": 0.1813054504663428,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007215917110443115,
+            "max_z_decrease": 0.007215917110443115,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035215462534888685,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007215917110443115,
+            "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": 0.02126636509620502,
+            "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": 0.007215917110443115,
+            "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": 0.007215941227874907,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12947842478752136,
+              -0.3808803558349609,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12947842478752136,
+              -0.3808803558349609,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13163178408514387,
+              -0.3825350515718413,
+              0.8080133178765926
+            ],
+            "closest_button": [
+              0.12946917116641998,
+              -0.3808822333812713,
+              0.7729032039642334
+            ],
+            "closest_ee_minus_button": [
+              0.002162612918723883,
+              -0.0016528181905700046,
+              0.03511011391235919
+            ],
+            "button_min_z_position": [
+              0.12945976853370667,
+              -0.3808802962303161,
+              0.7695929408073425
+            ],
+            "min_active_finger_to_button": 0.14392542851090498,
+            "closest_active_finger": [
+              -0.009545907378196716,
+              -0.3664338290691376,
+              0.8109532594680786
+            ],
+            "closest_active_finger_button": [
+              0.129479318857193,
+              -0.3808799386024475,
+              0.7766337990760803
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1390252262353897,
+              0.014446109533309937,
+              0.03431946039199829
+            ],
+            "min_contact_pad_to_button": 0.02126636509620502,
+            "closest_contact_pad": [
+              0.12945976853370667,
+              -0.3836501939409841,
+              0.7906781477325193
+            ],
+            "closest_contact_pad_button": [
+              0.12945976853370667,
+              -0.3808802962303161,
+              0.7695929408073425
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00276989771066799,
+              0.02108520692517679
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d6e000f1ee1418be836f30bf931ba8d544487df723722d7f4c89d751607cefb",
+    "visual_seed": 1816178669217160925,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9de857a7bdd27c681eb7585b730811e8bda4784
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_56_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35128330200483354,
+              0.3374289337717898,
+              1.0501232469536184
+            ],
+            "current_z": 1.0501232469536184,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1935367395450528,
+            "gripper_z": 1.0496484994118391,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3452928944774464,
+              0.33217255730856105,
+              1.0496484994118391
+            ],
+            "object_minus_gripper": [
+              0.005990407527387165,
+              0.00525637646322874,
+              0.0004747475417792302
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+            "object_to_gripper_xy": 0.00796959697019629,
+            "object_to_gripper_z": 0.0004747475417792302,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35128330200483354,
+              0.31226573937898533,
+              1.0501232469536184
+            ],
+            "finger_b": [
+              0.33896657331431645,
+              0.3374289337717898,
+              1.0501232469536184
+            ],
+            "finger_midpoint": [
+              0.34512493765957497,
+              0.32484733657538756,
+              1.0501232469536184
+            ],
+            "object_minus_finger_midpoint": [
+              0.006158364345258571,
+              0.012581597196402228,
+              0.0
+            ],
+            "finger_gap": 0.02801585546946358,
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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": 1.0501232469536184,
+            "object_top_z": 1.09551017504699,
+            "finger_top_clearance": 0.04538692809337164,
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+            "object_projection_between_fingers": 0.8067217550038247,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818619796691491,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0038603421487606,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..47ff27d28a9e6be0203fdf8a37e72832b028c895
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              0.3306566808835977,
+              1.0499543502781006
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+              0.32557493896834744,
+              1.0484589207006636
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+              0.0050817419152502374,
+              0.0014954295774369797
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+            "object_to_gripper_z": 0.0014954295774369797,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3058330363024273,
+              1.0499543502781006
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+              1.0499543502781006
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+              0.3182448585930125,
+              1.0499543502781006
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+              0.012411822290585184,
+              0.0
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+              0.0,
+              1.0
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3280606600102702,
+              1.2392815703266975
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+              0.33259394423057287,
+              1.2406791379282953
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007715833928902108,
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+            "held_gripper_z_dist": 0.0013975676015978156,
+            "max_held_gripper_z_dist": 0.0015187943424053163,
+            "held_gripper_z_max_dist": 0.15,
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+              0.3065492147467949,
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+              0.31973054813334717,
+              1.2406791379282953
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+              1.2406791379282953
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.025199268823677318,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9943955072843922,
+              0.022433772194876297
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+            "held_grasp_object_to_finger_line_xy": 0.0035720638154523045,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "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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+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+            "release_min_pad_clearance": 0.15375273707143483,
+            "release_required_pad_clearance": 0.05254060837917779,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 0.14803201943046423,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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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": {
+            "target": "heat_button",
+            "z_decrease": 0.007055878639221191,
+            "max_z_decrease": 0.007055878639221191,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035106038156313586,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007055878639221191,
+            "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": 0.021098173346018073,
+            "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": 0.007055878639221191,
+            "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": 0.007055903188447554,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12743908166885376,
+              -0.38009217381477356,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12743908166885376,
+              -0.38009217381477356,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12816794230088618,
+              -0.3796060694068149,
+              0.8079669644625869
+            ],
+            "closest_button": [
+              0.12742766737937927,
+              -0.3800915777683258,
+              0.7728720903396606
+            ],
+            "closest_ee_minus_button": [
+              0.0007402749215069115,
+              0.00048550836151090015,
+              0.03509487412292622
+            ],
+            "button_min_z_position": [
+              0.12742047011852264,
+              -0.38009196519851685,
+              0.7697529792785645
+            ],
+            "min_active_finger_to_button": 0.14533314108473414,
+            "closest_active_finger": [
+              0.001714468002319336,
+              -0.4443926513195038,
+              0.811170756816864
+            ],
+            "closest_active_finger_button": [
+              0.12743793427944183,
+              -0.3800930380821228,
+              0.776806652545929
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1257234662771225,
+              -0.06429961323738098,
+              0.03436410427093506
+            ],
+            "min_contact_pad_to_button": 0.021098173346018073,
+            "closest_contact_pad": [
+              0.12742047011852264,
+              -0.3805348187986775,
+              0.7908465043331269
+            ],
+            "closest_contact_pad_button": [
+              0.12742047011852264,
+              -0.38009196519851685,
+              0.7697529792785645
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004428536001606642,
+              0.021093525054562412
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b132a208ebbcd8e1398448ae85000601798edab6f4de137b87d34254e06e71cd",
+    "visual_seed": 1914588236663769273,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e556113a5327a1db5870df7056546d11acd37aa2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3529691237108441,
+              0.33468696462133135,
+              1.0513752736777386
+            ],
+            "current_z": 1.0513752736777386,
+            "required_z": 0.856586388199276,
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+            "lift_margin": 0.19478888547846263,
+            "gripper_z": 1.0497478359542483,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3473048780516009,
+              0.32958596619137936,
+              1.0497478359542483
+            ],
+            "object_minus_gripper": [
+              0.005664245659243228,
+              0.005100998429951986,
+              0.001627437723490388
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+            "object_to_gripper_xy": 0.007622589052981171,
+            "object_to_gripper_z": 0.001627437723490388,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3529691237108441,
+              0.3098341965978574,
+              1.0513752736777386
+            ],
+            "finger_b": [
+              0.340750438202046,
+              0.33468696462133135,
+              1.0513752736777386
+            ],
+            "finger_midpoint": [
+              0.34685978095644504,
+              0.3222605806095944,
+              1.0513752736777386
+            ],
+            "object_minus_finger_midpoint": [
+              0.006109342754399061,
+              0.012426384011736957,
+              0.0
+            ],
+            "finger_gap": 0.027693976854029533,
+            "fingertip_max_gap": 0.0920147618055748,
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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": 1.0975737172689288,
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+            "object_projection_between_fingers": 0.8053392806697274,
+            "object_to_finger_line_xy": 0.01096513361380089,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485073809027874,
+            "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": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3540360767835844,
+              0.33236067171333933,
+              1.2403541234623305
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+              0.336954985247488,
+              1.2418892986541092
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007808365557793803,
+            "max_held_gripper_dist": 0.007809135733320617,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015351751917787038,
+            "max_held_gripper_z_dist": 0.0016600421223360584,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.090179176440561,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3601602986088146,
+              0.31094593684508787,
+              1.2418892986541092
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+              0.336954985247488,
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+              0.32395046104628794,
+              1.2418892986541092
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+            "held_grasp_object_position": [
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+              0.336954985247488,
+              1.2418892986541092
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+            "held_grasp_finger_gap": 0.027875181017936648,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024945864411073146,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9953694298933841,
+              0.02002595522420214
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00377835591551561,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03178454549098088,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27923827139878726,
+              -0.32139556021141064,
+              0.8470195793887386
+            ],
+            "target_position": [
+              0.27347591199298926,
+              -0.32274497262437335,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005918251412524357,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.186430311634054,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195793887386,
+            "min_z": 0.5730800627579278,
+            "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": 0.07583954689690642,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08511471154639495,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15397096819213202,
+            "release_required_pad_clearance": 0.05255735577319748,
+            "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": 0.18130774807425945,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007019519805908203,
+            "max_z_decrease": 0.007019519805908203,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035117348299132864,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007019519805908203,
+            "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": 0.02112661451565559,
+            "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": 0.007019519805908203,
+            "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": 0.007019538622445497,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1291758418083191,
+              -0.3790064454078673,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1291758418083191,
+              -0.3790064454078673,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12990673941382544,
+              -0.379207871216089,
+              0.8081767184273436
+            ],
+            "closest_button": [
+              0.12916792929172513,
+              -0.3790077865123748,
+              0.7730677127838135
+            ],
+            "closest_ee_minus_button": [
+              0.0007388101221003085,
+              -0.0002000847037141873,
+              0.035109005643530145
+            ],
+            "button_min_z_position": [
+              0.12915959954261774,
+              -0.3790070414543151,
+              0.7697893381118774
+            ],
+            "min_active_finger_to_button": 0.14545821995538377,
+            "closest_active_finger": [
+              -0.011257067322731018,
+              -0.36295390129089355,
+              0.8111507892608643
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+            "closest_active_finger_button": [
+              0.12917441129684445,
+              -0.37900772690773005,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14043147861957547,
+              0.016053825616836492,
+              0.03434193134307861
+            ],
+            "min_contact_pad_to_button": 0.02112661451565559,
+            "closest_contact_pad": [
+              0.12915959954261774,
+              -0.3803258405853443,
+              0.7908747503617033
+            ],
+            "closest_contact_pad_button": [
+              0.12915959954261774,
+              -0.3790070414543151,
+              0.7697893381118774
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013187991310292246,
+              0.021085412249825852
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae8bcd7c48018a2a3b83e41310409de2f81f9bdce53b036fd89e0728c344cb00",
+    "visual_seed": 5040988187585961150,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91783a516e68f95788efcdb0376f61f780d78bce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.3365720248004169,
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+            "lift_margin": 0.1949395927316353,
+            "gripper_z": 1.0499697032911968,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3388310733021609,
+              0.33137352583922786,
+              1.0499697032911968
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+              0.005484527612733492,
+              0.005198498961189069,
+              0.0015565756629385419
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+            "object_to_gripper_z": 0.0015565756629385419,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3443156009148944,
+              0.3119881687594143,
+              1.0515262789541353
+            ],
+            "finger_b": [
+              0.331793822901447,
+              0.3365720248004169,
+              1.0515262789541353
+            ],
+            "finger_midpoint": [
+              0.3380547119081707,
+              0.32428009677991565,
+              1.0515262789541353
+            ],
+            "object_minus_finger_midpoint": [
+              0.006260889006723669,
+              0.012291928020501275,
+              0.0
+            ],
+            "finger_gap": 0.02758914464898821,
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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": 1.0981590267466341,
+            "finger_top_clearance": 0.04663274779249882,
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+            "object_projection_between_fingers": 0.7940055458566876,
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+            "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": 1.016708382471408,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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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": [],
+              "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "87b066ba92056a4bfcc1112f654515ee64049e2432eb7bc78091621d3d88eeba",
+    "visual_seed": 7346697852279658051,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bdd117bd921619a60715c364f024c6120407d60
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              0.3273185949551539,
+              1.0512948340779114
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+            "lift_margin": 0.194708267064701,
+            "gripper_z": 1.0500566239534033,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3400044383145504,
+              0.3221181878262594,
+              1.0500566239534033
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+              0.005653063300004535,
+              0.005200407128894524,
+              0.0012382101245080879
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+            "object_to_gripper_z": 0.0012382101245080879,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.30260037171604875,
+              1.0512948340779114
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+              0.3273185949551539,
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+            "finger_midpoint": [
+              0.33939413770795684,
+              0.3149594833356013,
+              1.0512948340779114
+            ],
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+              0.01235911161955261,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850378158290845,
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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
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+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
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+            },
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3249547164206824,
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+              0.32954254843670183,
+              1.2415080048973508
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.0011276612954067566,
+            "max_held_gripper_z_dist": 0.0012523797917636248,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08952945924806271,
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+            "held_grasp_geometry_required": true,
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+              0.31659942967274785,
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+              0.32954254843670183,
+              1.2415080048973508
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+            "held_grasp_finger_gap": 0.028070121230774236,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9946148925231024,
+              0.02321725762223359
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003652714426983039,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031824543811146785,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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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+            "object_z": 0.8470196889698661,
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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_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.084997157063524,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1546498750416106,
+            "release_required_pad_clearance": 0.052498578531762,
+            "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": 0.0685222042393573,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0070403218269348145,
+            "max_z_decrease": 0.0070403218269348145,
+            "final_z_decrease": -5.960464477539063e-08,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03525953958668855,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0070403218269348145,
+            "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": 0.021085222803496007,
+            "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": 0.0070403218269348145,
+            "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": 5.960464477539063e-08,
+            "button_max_displacement": 0.007040340955508271,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13233609497547144,
+              -0.3765624463558196,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13233609497547144,
+              -0.3765624463558196,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.13459514472736694,
+              -0.37468255179261983,
+              0.8081367794163298
+            ],
+            "closest_button": [
+              0.1323253065347671,
+              -0.37656629085540766,
+              0.7730008363723755
+            ],
+            "closest_ee_minus_button": [
+              0.002269838192599849,
+              0.0018837390627878259,
+              0.03513594304395429
+            ],
+            "button_min_z_position": [
+              0.1323197484016418,
+              -0.3765639066696166,
+              0.7697685360908508
+            ],
+            "min_active_finger_to_button": 0.14335634200119898,
+            "closest_active_finger": [
+              0.006409190595149994,
+              -0.43595266342163086,
+              0.8108894228935242
+            ],
+            "closest_active_finger_button": [
+              0.13233682513236994,
+              -0.3765632212162017,
+              0.7767402529716492
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12592763453721995,
+              -0.05938944220542913,
+              0.034149169921875
+            ],
+            "min_contact_pad_to_button": 0.021085222803496007,
+            "closest_contact_pad": [
+              0.1323197484016418,
+              -0.3765639066696166,
+              0.7908537588943468
+            ],
+            "closest_contact_pad_button": [
+              0.1323197484016418,
+              -0.3765639066696166,
+              0.7697685360908508
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021085222803496007
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4038b6794afe8c53a2658852ce21235be91cec64697fbc027a8428ed6f5b0a3e",
+    "visual_seed": 5240006657999113162,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..30453acfe2fd88b0224a34782f43782094c7523a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_61_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3481976407190854,
+              0.32716275702472386,
+              1.0497694700365563
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+            "lift_margin": 0.19318302223263573,
+            "gripper_z": 1.0482385756291837,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34254098074460104,
+              0.32202250313191577,
+              1.0482385756291837
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+              0.005656659974484335,
+              0.005140253892808089,
+              0.0015308944073726405
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+            "object_to_gripper_z": 0.0015308944073726405,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3481976407190854,
+              0.3023490682166648,
+              1.0497694700365563
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+            "finger_b": [
+              0.3358805210388547,
+              0.32716275702472386,
+              1.0497694700365563
+            ],
+            "finger_midpoint": [
+              0.34203908087897006,
+              0.31475591262069436,
+              1.0497694700365563
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061585598401153185,
+              0.012406844404029505,
+              0.0
+            ],
+            "finger_gap": 0.02770253760001639,
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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": 0.8023124966651901,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828206469789169,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6026808387788527,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3491338784784006,
+              0.3249062218944953,
+              1.2364597501841337
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+            "held_position": [
+              0.3552698583579818,
+              0.3295075153697076,
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
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+                "split_aloha",
+                "tool_center",
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+                "visuals",
+                "wrist",
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+                "wrist_3_joint"
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.286853053467729,
+              -0.32326378740964673,
+              0.84701927500462
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+              0.2779788116189181,
+              -0.3263331979688291,
+              0.8084375599031817
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+            "xy_dist": 0.009390071861919223,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18698318343714482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.84701927500462,
+            "min_z": 0.5730800627579278,
+            "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": 0.0755519426289855,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.5218925296312998,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0073049068450927734,
+            "max_z_decrease": 0.0073049068450927734,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513038186418735,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073049068450927734,
+            "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": 0.02114774504602644,
+            "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": 0.0073049068450927734,
+            "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": 0.0073049291671941335,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1336787343025207,
+              -0.38259464502334584,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1336787343025207,
+              -0.38259464502334584,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1321967991732529,
+              -0.3836337692120023,
+              0.8079158484958587
+            ],
+            "closest_button": [
+              0.1336685866117477,
+              -0.3825972378253936,
+              0.7728316187858582
+            ],
+            "closest_ee_minus_button": [
+              -0.0014717874384947982,
+              -0.0010365313866086967,
+              0.03508422971000058
+            ],
+            "button_min_z_position": [
+              0.13366070389747614,
+              -0.3825936317443847,
+              0.7695039510726929
+            ],
+            "min_active_finger_to_button": 0.14749416917988709,
+            "closest_active_finger": [
+              -0.009025901556015015,
+              -0.3680056929588318,
+              0.8108515739440918
+            ],
+            "closest_active_finger_button": [
+              0.13367809355258936,
+              -0.3825963735580443,
+              0.7765410542488098
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14270399510860438,
+              0.014590680599212535,
+              0.03431051969528198
+            ],
+            "min_contact_pad_to_button": 0.02114774504602644,
+            "closest_contact_pad": [
+              0.13366070389747614,
+              -0.3847408149763886,
+              0.7905424093027994
+            ],
+            "closest_contact_pad_button": [
+              0.13366070389747614,
+              -0.3825936317443847,
+              0.7695039510726929
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002147183232003913,
+              0.021038458230106527
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9f9e05a206fc17c914278222fbd50bbf30f821824d447f6d1b7baa3254e58041",
+    "visual_seed": 5193414850216862145,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ff91d6e2652dcab794b39d93a712ba18fae0386
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+            "min_ee_to_button": 0.03512208130898773,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007268130779266357,
+            "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": 0.021089533418670512,
+            "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": 0.007268130779266357,
+            "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": 0.007268151320208623,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13368958234786982,
+              -0.3802603185176848,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13368958234786982,
+              -0.3802603185176848,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13440814619059396,
+              -0.37973892945431437,
+              0.8079558038934104
+            ],
+            "closest_button": [
+              0.1336784958839416,
+              -0.38026267290115345,
+              0.7728452086448669
+            ],
+            "closest_ee_minus_button": [
+              0.0007296503066523685,
+              0.0005237434468390867,
+              0.03511059524854343
+            ],
+            "button_min_z_position": [
+              0.13367231190204615,
+              -0.3802608847618102,
+              0.7695407271385193
+            ],
+            "min_active_finger_to_button": 0.1452994185951174,
+            "closest_active_finger": [
+              0.007303513586521149,
+              -0.4432385563850403,
+              0.8107961416244507
+            ],
+            "closest_active_finger_button": [
+              0.13368922472000117,
+              -0.38026085495948786,
+              0.7765560746192932
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12638571113348002,
+              -0.06297770142555242,
+              0.03424006700515747
+            ],
+            "min_contact_pad_to_button": 0.021089533418670512,
+            "closest_contact_pad": [
+              0.13367231190204615,
+              -0.3808095851830433,
+              0.79062312139688
+            ],
+            "closest_contact_pad_button": [
+              0.13367231190204615,
+              -0.3802608847618102,
+              0.7695407271385193
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000548700421233117,
+              0.02108239425836067
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f94c5f3bfd34562b082a22ae93b2e5d8880d75dde63f46c9ae17e27da8969e2c",
+    "visual_seed": 7027635733650553694,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb58abbe5bbe986579889715dcbdb0ed3b6ba7f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3485271446830872,
+              0.33067450133305026,
+              1.050874659941104
+            ],
+            "current_z": 1.050874659941104,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19428827174182806,
+            "gripper_z": 1.0494497182571456,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34281937797411915,
+              0.32553070377412663,
+              1.0494497182571456
+            ],
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+              0.005707766708968054,
+              0.005143797558923635,
+              0.0014249416839584583
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+            "object_to_gripper_xy": 0.0076835704025662935,
+            "object_to_gripper_z": 0.0014249416839584583,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3485271446830872,
+              0.3058142425349335,
+              1.050874659941104
+            ],
+            "finger_b": [
+              0.33621340771834574,
+              0.33067450133305026,
+              1.050874659941104
+            ],
+            "finger_midpoint": [
+              0.3423702762007165,
+              0.3182443719339919,
+              1.050874659941104
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061568684823707365,
+              0.012430129399058354,
+              0.0
+            ],
+            "finger_gap": 0.027742757352977414,
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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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+            "finger_top_clearance": 0.04615054776082239,
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+            "object_projection_between_fingers": 0.8029935261278333,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846090171730562,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6424310874390343,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3495102725720998,
+              0.3281441793759866,
+              1.237423406854726
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+            "held_position": [
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+              0.3327361427481529,
+              1.2387132045465599
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007813303604432232,
+            "max_held_gripper_dist": 0.00781494735705595,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012897976918337939,
+            "max_held_gripper_z_dist": 0.0014332231981690757,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08944180492381476,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.30668608213456694,
+              1.2387132045465599
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+              1.2387132045465599
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+              0.3197746684832685,
+              1.2387132045465599
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+            "held_grasp_object_position": [
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+              0.3327361427481529,
+              1.2387132045465599
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+            "held_grasp_finger_gap": 0.027998001509487978,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0251603250195191,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0908427566634193,
+              -0.995622080239469,
+              0.022006065105406484
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003779144680856702,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03184437193710763,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2854776387881316,
+              -0.3232716733529626,
+              0.8470192522249882
+            ],
+            "target_position": [
+              0.2781093894764293,
+              -0.3253321201986379,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0076509175347309975,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18544056188572164,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192522249882,
+            "min_z": 0.5730800627579278,
+            "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": 0.0754752094116689,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537581863124803,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15404540020569393,
+            "release_required_pad_clearance": 0.05268790931562402,
+            "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": 0.42795102690092546,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007310926914215088,
+            "max_z_decrease": 0.007310926914215088,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511137167659102,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007310926914215088,
+            "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": 0.021091079711050603,
+            "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": 0.007310926914215088,
+            "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": 0.0073109436383369825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13380931317806244,
+              -0.38159358501434326,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13380931317806244,
+              -0.38159358501434326,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1329358390035906,
+              -0.3814569679802724,
+              0.8079114206838562
+            ],
+            "closest_button": [
+              0.13379897177219388,
+              -0.38159623742103577,
+              0.7728109359741211
+            ],
+            "closest_ee_minus_button": [
+              -0.0008631327686032808,
+              0.00013926944076336767,
+              0.03510048470973515
+            ],
+            "button_min_z_position": [
+              0.1337936818599701,
+              -0.38159313797950745,
+              0.7694979310035706
+            ],
+            "min_active_finger_to_button": 0.1468602029580162,
+            "closest_active_finger": [
+              0.00584845244884491,
+              -0.44499996304512024,
+              0.8107721209526062
+            ],
+            "closest_active_finger_button": [
+              0.13380917906761167,
+              -0.38159477710723877,
+              0.7765120267868042
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12796072661876676,
+              -0.06340518593788147,
+              0.034260094165802
+            ],
+            "min_contact_pad_to_button": 0.021091079711050603,
+            "closest_contact_pad": [
+              0.1337936818599701,
+              -0.38254347716588416,
+              0.790567589254447
+            ],
+            "closest_contact_pad_button": [
+              0.1337936818599701,
+              -0.38159313797950745,
+              0.7694979310035706
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009503391863767141,
+              0.021069658250876477
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddbad4f313a267ac6aa1da4bf4c558d63830d8ad721daf5f9e5cb41de34193d2",
+    "visual_seed": 2663590487325021546,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cf2e5e52720c511e76e21bd5aa86375ecbf7097
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3462536685883597,
+              0.3340879322557646,
+              1.0484944412792827
+            ],
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19190799347536192,
+            "gripper_z": 1.047012770804498,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34067904927618425,
+              0.32902519278988185,
+              1.047012770804498
+            ],
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+              0.005574619312175455,
+              0.00506273946588276,
+              0.0014816704747846465
+            ],
+            "object_to_gripper_xy": 0.007530452268960105,
+            "object_to_gripper_z": 0.0014816704747846465,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3462536685883597,
+              0.3092994643957138,
+              1.0484944412792827
+            ],
+            "finger_b": [
+              0.33408698965364186,
+              0.3340879322557646,
+              1.0484944412792827
+            ],
+            "finger_midpoint": [
+              0.34017032912100076,
+              0.32169369832573924,
+              1.0484944412792827
+            ],
+            "object_minus_finger_midpoint": [
+              0.00608333946735895,
+              0.012394233930025367,
+              0.0
+            ],
+            "finger_gap": 0.02761333401002635,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013806667005013163,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484944412792827,
+            "object_top_z": 1.0946661888857765,
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+            "fingertip_min_top_clearance": 0.013851524281948135,
+            "object_projection_between_fingers": 0.8058638543254583,
+            "object_to_finger_line_xy": 0.010922017950722741,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845158678053153,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6660468305595995,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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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"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e784a5859ecabd6f3250aa60ccfd61046f519cb9dbbbd5652c6aaaf17dba02ed",
+    "visual_seed": 984131449480703044,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e62da1086c0829fbe9049fb7e6246f72d96fc436
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.33427627245093217,
+              1.0501464525173905
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+            "gripper_z": 1.0487704698519018,
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+              0.328954362067074,
+              1.0487704698519018
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+              0.005321910383858153,
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+              0.309172779179022,
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+              1.0501464525173905
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+              0.32172452581497707,
+              1.0501464525173905
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.3328654679565914,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0014059952968374922,
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+            "held_object_xy_range": 0.08972831976115275,
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+              0.3377391911135219,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15420520202018284,
+            "release_required_pad_clearance": 0.05305405977618173,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.1364129862257286,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007329702377319336,
+            "max_z_decrease": 0.007329702377319336,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0352510543655933,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007329702377319336,
+            "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": 0.02108153003715363,
+            "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": 0.007329702377319336,
+            "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": 0.0073297217331141674,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1339084506034851,
+              -0.3812278509140014,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1339084506034851,
+              -0.3812278509140014,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13616851472519867,
+              -0.37956103290219184,
+              0.807896448511214
+            ],
+            "closest_button": [
+              0.13389693200588226,
+              -0.38123190402984614,
+              0.7727583646774292
+            ],
+            "closest_ee_minus_button": [
+              0.002271582719316406,
+              0.0016708711276542942,
+              0.035138083833784806
+            ],
+            "button_min_z_position": [
+              0.13389165699481964,
+              -0.38122916221618647,
+              0.7694791555404663
+            ],
+            "min_active_finger_to_button": 0.14343296635810202,
+            "closest_active_finger": [
+              0.007893532514572144,
+              -0.44062745571136475,
+              0.8105954527854919
+            ],
+            "closest_active_finger_button": [
+              0.13390742242336273,
+              -0.3812295198440551,
+              0.7764574885368347
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1260138899087906,
+              -0.059397935867309626,
+              0.03413796424865723
+            ],
+            "min_contact_pad_to_button": 0.02108153003715363,
+            "closest_contact_pad": [
+              0.13389165699481964,
+              -0.38122916221618647,
+              0.7905606855776199
+            ],
+            "closest_contact_pad_button": [
+              0.13389165699481964,
+              -0.38122916221618647,
+              0.7694791555404663
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108153003715363
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "415044705d771c99f37116e0f4426e8cf1e9940bd9906c22d89cce6773c626a2",
+    "visual_seed": 4665929869616503205,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a17bfcc4da034f393597cc938fb835ceb6d7190d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3519520274310539,
+              0.3354785521940452,
+              1.0492549107216131
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+            "current_z": 1.0492549107216131,
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+            "lift_margin": 0.19266828410375791,
+            "gripper_z": 1.0475828753823955,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34627335941150755,
+              0.3302827940814734,
+              1.0475828753823955
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+              0.005678668019546362,
+              0.0051957581125718355,
+              0.0016720353392176701
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+            "object_to_gripper_z": 0.0016720353392176701,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3519520274310539,
+              0.31067036054422453,
+              1.0492549107216131
+            ],
+            "finger_b": [
+              0.3395340318837393,
+              0.3354785521940452,
+              1.0492549107216131
+            ],
+            "finger_midpoint": [
+              0.3457430296573966,
+              0.3230744563691349,
+              1.0492549107216131
+            ],
+            "object_minus_finger_midpoint": [
+              0.006208997773657299,
+              0.01240409582491031,
+              0.0
+            ],
+            "finger_gap": 0.027742620394392407,
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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": 0.7996413758556781,
+            "object_to_finger_line_xy": 0.01110450307378568,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048694861108433005,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9201822671635831,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35300480808508694,
+              0.33331052402157596,
+              1.2386593745860222
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+            "held_position": [
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+              0.33794803765964715,
+              1.2402409008311683
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0078772508904237,
+            "max_held_gripper_dist": 0.007877949327969338,
+            "held_gripper_max_dist": 0.15,
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2853934953802317,
+              -0.31694214784950586,
+              0.8470193572605523
+            ],
+            "target_position": [
+              0.2767035361318484,
+              -0.3200898652074566,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009242484314517737,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1864889311982902,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193572605523,
+            "min_z": 0.5730800627579278,
+            "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": 0.07531435473643346,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086515727811235,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1556959520466509,
+            "release_required_pad_clearance": 0.0532578639056175,
+            "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": 1.5348966457168767,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00695115327835083,
+            "max_z_decrease": 0.00695115327835083,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512343394034428,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00695115327835083,
+            "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": 0.021102338693893368,
+            "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": 0.00695115327835083,
+            "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": 0.006951172172958829,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13240346312522883,
+              -0.3763513267040252,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13240346312522883,
+              -0.3763513267040252,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13065026735989027,
+              -0.37681160269565933,
+              0.8081950722197453
+            ],
+            "closest_button": [
+              0.13239786028861997,
+              -0.3763530850410461,
+              0.7731181383132935
+            ],
+            "closest_ee_minus_button": [
+              -0.0017475929287296965,
+              -0.0004585176546132441,
+              0.035076933906451835
+            ],
+            "button_min_z_position": [
+              0.1323872953653335,
+              -0.37635019421577454,
+              0.7698577046394348
+            ],
+            "min_active_finger_to_button": 0.14785504311187653,
+            "closest_active_finger": [
+              -0.010754063725471497,
+              -0.362748920917511,
+              0.8106706142425537
+            ],
+            "closest_active_finger_button": [
+              0.13240338861942286,
+              -0.3763521313667297,
+              0.776290237903595
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14315745234489435,
+              0.013603210449218694,
+              0.03438037633895874
+            ],
+            "min_contact_pad_to_button": 0.021102338693893368,
+            "closest_contact_pad": [
+              0.1323872953653335,
+              -0.3777995949865017,
+              0.7909102089027666
+            ],
+            "closest_contact_pad_button": [
+              0.1323872953653335,
+              -0.37635019421577454,
+              0.7698577046394348
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014494007707271384,
+              0.021052504263331828
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99ffbad3ddceccb6d5c7133588856817f4cc58ae828a1af542521e844246a1a1",
+    "visual_seed": 52097047470167718,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b2ab1fcbab1e6b69169989d7eb39606f91bf71d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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+            "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": 0.007161557674407959,
+            "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": 0.007161578821571515,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1367217749357223,
+              -0.3827247619628906,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1367217749357223,
+              -0.3827247619628906,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13844669362022025,
+              -0.3816509114527241,
+              0.8082024644811474
+            ],
+            "closest_button": [
+              0.13671116530895233,
+              -0.3827293515205383,
+              0.7730598449707031
+            ],
+            "closest_ee_minus_button": [
+              0.0017355283112679143,
+              0.001078440067814157,
+              0.035142619510444284
+            ],
+            "button_min_z_position": [
+              0.13670442998409266,
+              -0.3827261924743652,
+              0.7696473002433777
+            ],
+            "min_active_finger_to_button": 0.144153070813761,
+            "closest_active_finger": [
+              0.010115496814250946,
+              -0.4426163136959076,
+              0.8103768825531006
+            ],
+            "closest_active_finger_button": [
+              0.13672123849391934,
+              -0.3827265501022339,
+              0.7762548923492432
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1266057416796684,
+              -0.059889763593673706,
+              0.03412199020385742
+            ],
+            "min_contact_pad_to_button": 0.021073769648955916,
+            "closest_contact_pad": [
+              0.13670442998409266,
+              -0.38300674451065736,
+              0.7907192023353149
+            ],
+            "closest_contact_pad_button": [
+              0.13670442998409266,
+              -0.3827261924743652,
+              0.7696473002433777
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00028055203629218095,
+              0.02107190209193721
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7898e44387941b859454dd684fd17b5628cc5198dc9866fa277873d6c6c1457e",
+    "visual_seed": 6871224768459240683,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ea162fe34fac151d3c24dfd74b7a798617b5ea1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34829546577245696,
+              0.33174864505128104,
+              1.0478345028574942
+            ],
+            "current_z": 1.0478345028574942,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19124799544892868,
+            "gripper_z": 1.0480320312189788,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34245770724453595,
+              0.3265195679381713,
+              1.0480320312189788
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+              0.005837758527921011,
+              0.00522907711310977,
+              -0.00019752836148456687
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+            "object_to_gripper_xy": 0.007837261772147393,
+            "object_to_gripper_z": -0.00019752836148456687,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34829546577245696,
+              0.30670594038626603,
+              1.0478345028574942
+            ],
+            "finger_b": [
+              0.33600043925342965,
+              0.33174864505128104,
+              1.0478345028574942
+            ],
+            "finger_midpoint": [
+              0.3421479525129433,
+              0.31922729271877354,
+              1.0478345028574942
+            ],
+            "object_minus_finger_midpoint": [
+              0.006147513259513682,
+              0.012521352332507507,
+              0.0
+            ],
+            "finger_gap": 0.027898113449528257,
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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": 1.0478345028574942,
+            "object_top_z": 1.093200910863828,
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+            "fingertip_min_top_clearance": 0.013609922401900154,
+            "object_projection_between_fingers": 0.805773149652612,
+            "object_to_finger_line_xy": 0.011036614304460641,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048062235144392576,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.087399074488897,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3486954541953359,
+              0.330109886914554,
+              1.238050038123263
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+            "held_position": [
+              0.3549065658984901,
+              0.33488828747239235,
+              1.2377816902364691
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007841111596486578,
+            "max_held_gripper_dist": 0.007845247950479844,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002683478867939737,
+            "max_held_gripper_z_dist": 0.00047797629004020514,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08980765357253262,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3549065658984901,
+              0.3089151021951647,
+              1.2377816902364691
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+              0.33488828747239235,
+              1.2377816902364691
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+            "held_grasp_midpoint": [
+              0.34965978238767625,
+              0.3219016948337785,
+              1.2377816902364691
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+            "held_grasp_object_position": [
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+              0.33488828747239235,
+              1.2377816902364691
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+            "held_grasp_finger_gap": 0.028012877436682362,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025345494025146745,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055930496308015824,
+              -0.9984298868204055,
+              0.003088800176647476
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004512406294344886,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03194056754167633,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.2844113032571073,
+              -0.32497256543512226,
+              0.8470193267086323
+            ],
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+              0.27750907958603027,
+              -0.3271744049513557,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.007244914689685648,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18421460265186365,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193267086323,
+            "min_z": 0.5730800627579278,
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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_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533594938037068,
+            "release_required_pad_clearance": 0.05309756415748414,
+            "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": 1.2220356575270999,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007397770881652832,
+            "max_z_decrease": 0.007397770881652832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035168316182292304,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007397770881652832,
+            "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": 0.02128300478531039,
+            "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": 0.007397770881652832,
+            "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": 0.0073977908042032236,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13320900499820704,
+              -0.38343587517738337,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13320900499820704,
+              -0.38343587517738337,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13223414061599162,
+              -0.38535085712117334,
+              0.8078238350077587
+            ],
+            "closest_button": [
+              0.13319717347621912,
+              -0.383439689874649,
+              0.7727206945419312
+            ],
+            "closest_ee_minus_button": [
+              -0.0009630328602275029,
+              -0.0019111672465243479,
+              0.03510314046582752
+            ],
+            "button_min_z_position": [
+              0.13319185376167292,
+              -0.3834351003170013,
+              0.7694110870361328
+            ],
+            "min_active_finger_to_button": 0.1468558601603003,
+            "closest_active_finger": [
+              -0.008673794567584991,
+              -0.3671747148036957,
+              0.8106352686882019
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+            "closest_active_finger_button": [
+              0.1332078725099563,
+              -0.38343763351440424,
+              0.7764043807983398
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.1418816670775413,
+              0.016262918710708563,
+              0.03423088788986206
+            ],
+            "min_contact_pad_to_button": 0.02128300478531039,
+            "closest_contact_pad": [
+              0.13319185376167292,
+              -0.38670705258483934,
+              0.7904410804039048
+            ],
+            "closest_contact_pad_button": [
+              0.13319185376167292,
+              -0.3834351003170013,
+              0.7694110870361328
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003271952267838052,
+              0.021029993367772004
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ded7c8bbd01dc7b21084bfcbbfce6cb795fa8f3dfbbcbe83662f9be77c24375",
+    "visual_seed": 441408745635399548,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..766cf63dbac53f87ed6252b26b93b1b863e0b9bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.32986874569973607,
+              1.0513388893510147
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+            "lift_margin": 0.1947525011517387,
+            "gripper_z": 1.04993339207676,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3397873587132533,
+              0.3244433041956554,
+              1.04993339207676
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+              0.006130195039918296,
+              0.005425441504080641,
+              0.0014054972742547633
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+            "object_to_gripper_xy": 0.008186251079806903,
+            "object_to_gripper_z": 0.0014054972742547633,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.34591755375317157,
+              0.304755330892246,
+              1.0513388893510147
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+            "finger_b": [
+              0.3331467453595822,
+              0.32986874569973607,
+              1.0513388893510147
+            ],
+            "finger_midpoint": [
+              0.3395321495563769,
+              0.31731203829599103,
+              1.0513388893510147
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+            "object_minus_finger_midpoint": [
+              0.006385404196794675,
+              0.012556707403745038,
+              0.0
+            ],
+            "finger_gap": 0.02817405101008433,
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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": 1.0973716590143658,
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+            "fingertip_min_top_clearance": 0.013809830899005338,
+            "object_projection_between_fingers": 0.7945348427322922,
+            "object_to_finger_line_xy": 0.011383475116886498,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852377417447391,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7562159008159883,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62d6eb47a7d188424df88ba24eaaf79f53686a7fa5906f61498907e60b5079e8",
+    "visual_seed": 5833910283107275619,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..666678a00732f30b4a96e03d346a6924f9d2b427
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.3382027875024475,
+              1.049635889324103
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+            "lift_margin": 0.1930494415201821,
+            "gripper_z": 1.0481167858516665,
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+            "gripper_position": [
+              0.3437290986649558,
+              0.33300580203791963,
+              1.0481167858516665
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+              0.005196985464527848,
+              0.001519103472436445
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+            "object_to_gripper_z": 0.001519103472436445,
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+              0.3134209585915599,
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+              0.32581187304700365,
+              1.049635889324103
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+              0.012390914455443824,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789448922907001,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.33685491822335717,
+              1.2381298454921954
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+              0.3415671242223774,
+              1.2395675921581024
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
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+            "held_gripper_z_dist": 0.0014377466659070137,
+            "max_held_gripper_z_dist": 0.001555080064724823,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08962448273401252,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.32862518437315613,
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+            "held_grasp_object_position": [
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+              0.3415671242223774,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.004071941180874325,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1565296338044764,
+            "release_required_pad_clearance": 0.053063150170770026,
+            "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": 1.1541813999095827,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007385551929473877,
+            "max_z_decrease": 0.007385551929473877,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511782771412611,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007385551929473877,
+            "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": 0.02114897720249793,
+            "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": 0.007385551929473877,
+            "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": 0.007385578321446959,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13615642488002772,
+              -0.3805427253246306,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13615642488002772,
+              -0.3805427253246306,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1357087625018939,
+              -0.38145741708406866,
+              0.8078838559070911
+            ],
+            "closest_button": [
+              0.13614644110202784,
+              -0.3805455565452575,
+              0.7727805972099304
+            ],
+            "closest_ee_minus_button": [
+              -0.00043767860013393944,
+              -0.0009118605388111489,
+              0.03510325869716069
+            ],
+            "button_min_z_position": [
+              0.13613669574260706,
+              -0.38054195046424855,
+              0.7694233059883118
+            ],
+            "min_active_finger_to_button": 0.14651677160332033,
+            "closest_active_finger": [
+              -0.005608707666397095,
+              -0.3666824996471405,
+              0.8108037114143372
+            ],
+            "closest_active_finger_button": [
+              0.13615627586841578,
+              -0.3805439174175262,
+              0.7764858603477478
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14176498353481287,
+              0.013861417770385687,
+              0.034317851066589355
+            ],
+            "min_contact_pad_to_button": 0.02114897720249793,
+            "closest_contact_pad": [
+              0.13613669574260706,
+              -0.38248266592677094,
+              0.7904830510058874
+            ],
+            "closest_contact_pad_button": [
+              0.13613669574260706,
+              -0.38054195046424855,
+              0.7694233059883118
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001940715462522391,
+              0.021059745017575682
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b30d7f39885487f888df45a38df7daa1b7d6fd83bcc8b33092fb1bca5fb7b2c",
+    "visual_seed": 6160370977711527601,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f420c6974fa06a2742e91307442afcd6bf6168f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3492673811370093,
+              0.3285071268817595,
+              1.0486524420518748
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.192065994247954,
+            "gripper_z": 1.0471144399370302,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3438162072207019,
+              0.3233346845353229,
+              1.0471144399370302
+            ],
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+              0.005451173916307395,
+              0.005172442346436601,
+              0.001538002114844561
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+            "object_to_gripper_xy": 0.007514616217282202,
+            "object_to_gripper_z": 0.001538002114844561,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3492673811370093,
+              0.3039907575704237,
+              1.0486524420518748
+            ],
+            "finger_b": [
+              0.33671264944212465,
+              0.3285071268817595,
+              1.0486524420518748
+            ],
+            "finger_midpoint": [
+              0.34299001528956696,
+              0.31624894222609157,
+              1.0486524420518748
+            ],
+            "object_minus_finger_midpoint": [
+              0.006277365847442318,
+              0.012258184655667914,
+              0.0
+            ],
+            "finger_gap": 0.02754403115268982,
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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": 1.0947566418472399,
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+            "object_projection_between_fingers": 0.7922409886176165,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048351087927838085,
+            "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": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/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_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35060396012552375,
+              0.3260602206723547,
+              1.2380665048377857
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+            "held_position": [
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+              0.3305909321022842,
+              1.239512189967079
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007670108628486012,
+            "max_held_gripper_dist": 0.007670856795200619,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014456851292932171,
+            "max_held_gripper_z_dist": 0.0015656104569645724,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0894946841148061,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "fr3_rightfinger",
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+                "gripper",
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+                "joint3",
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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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+                "defaultgroundplane",
+                "desk",
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+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
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+            },
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.28327560818971287,
+              -0.32241773098557697,
+              0.8470193644973085
+            ],
+            "target_position": [
+              0.274646943355863,
+              -0.32558477371847816,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009191518725811308,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18594171267855963,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193644973085,
+            "min_z": 0.5730800627579278,
+            "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": 0.07561503396528813,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08609659733538981,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1544386996703357,
+            "release_required_pad_clearance": 0.05304829866769491,
+            "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": 1.1267299647470133,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007168591022491455,
+            "max_z_decrease": 0.007168591022491455,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511730475453728,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007168591022491455,
+            "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": 0.021067100918836554,
+            "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": 0.007168591022491455,
+            "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": 0.007168611093557083,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13034686446189878,
+              -0.3818462193012237,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13034686446189878,
+              -0.3818462193012237,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12880451373351032,
+              -0.3811856675059935,
+              0.8080507828080157
+            ],
+            "closest_button": [
+              0.13034011423587796,
+              -0.3818468451499939,
+              0.7729732990264893
+            ],
+            "closest_ee_minus_button": [
+              -0.0015356005023676456,
+              0.0006611776440004213,
+              0.03507748378152642
+            ],
+            "button_min_z_position": [
+              0.13032995164394376,
+              -0.38184490799903864,
+              0.7696402668952942
+            ],
+            "min_active_finger_to_button": 0.1472447937354182,
+            "closest_active_finger": [
+              0.002441093325614929,
+              -0.446205735206604,
+              0.8104813694953918
+            ],
+            "closest_active_finger_button": [
+              0.13034406304359436,
+              -0.3818481266498565,
+              0.7761308550834656
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12790296971797943,
+              -0.06435760855674749,
+              0.03435051441192627
+            ],
+            "min_contact_pad_to_button": 0.021067100918836554,
+            "closest_contact_pad": [
+              0.13032995164394376,
+              -0.3821303335578892,
+              0.7907054341952422
+            ],
+            "closest_contact_pad_button": [
+              0.13032995164394376,
+              -0.38184490799903864,
+              0.7696402668952942
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00028542555885058274,
+              0.021065167299948007
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e1b6f13a7568c23ec0ade126d144455f035572afa1d92fd8061503f061ca4266",
+    "visual_seed": 5010849455566240206,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c4c815775a0139d97b2c7c3039d62e1b88a2edb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
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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": 0.00721098926025986,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13094347715377808,
+              -0.3835700452327728,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13094347715377808,
+              -0.3835700452327728,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13046626004406295,
+              -0.3821803211149811,
+              0.808046460377209
+            ],
+            "closest_button": [
+              0.1309329867362976,
+              -0.38357168436050415,
+              0.7729409337043762
+            ],
+            "closest_ee_minus_button": [
+              -0.0004667266922346591,
+              0.0013913632455230251,
+              0.03510552667283273
+            ],
+            "button_min_z_position": [
+              0.13092678785324094,
+              -0.38357061147689814,
+              0.7695978879928589
+            ],
+            "min_active_finger_to_button": 0.145986435228371,
+            "closest_active_finger": [
+              0.0029935985803604126,
+              -0.4449441730976105,
+              0.8109294176101685
+            ],
+            "closest_active_finger_button": [
+              0.13094460964202878,
+              -0.38357001543045044,
+              0.7766687870025635
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12795101106166837,
+              -0.061374157667160034,
+              0.03426063060760498
+            ],
+            "min_contact_pad_to_button": 0.021078133577476676,
+            "closest_contact_pad": [
+              0.13092678785324094,
+              -0.38357061147689814,
+              0.7906760215703356
+            ],
+            "closest_contact_pad_button": [
+              0.13092678785324094,
+              -0.38357061147689814,
+              0.7695978879928589
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021078133577476676
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d1e63c19f64e23e2a12c8ffc5e45d569e0b94358b47dfbf9a47673679375919",
+    "visual_seed": 1764968072330325682,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11b4cc09e25ac150d1cf5bc0e4ae54f5a099590d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3470716186578593,
+              0.3320699512540267,
+              1.050769159660993
+            ],
+            "current_z": 1.050769159660993,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.1941826522524276,
+            "gripper_z": 1.0493297222629048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3414496675871505,
+              0.32697425137457237,
+              1.0493297222629048
+            ],
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+              0.005621951070708786,
+              0.005095699879454352,
+              0.0014394373980881614
+            ],
+            "object_to_gripper_xy": 0.007587653860246576,
+            "object_to_gripper_z": 0.0014394373980881614,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3470716186578593,
+              0.30725447116828586,
+              1.050769159660993
+            ],
+            "finger_b": [
+              0.3348537759365465,
+              0.3320699512540267,
+              1.050769159660993
+            ],
+            "finger_midpoint": [
+              0.3409626972972029,
+              0.3196622112111563,
+              1.050769159660993
+            ],
+            "object_minus_finger_midpoint": [
+              0.006108921360656383,
+              0.01240774004287043,
+              0.0
+            ],
+            "finger_gap": 0.027660147010609624,
+            "fingertip_max_gap": 0.09154166842169217,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013830073505304812,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050769159660993,
+            "object_top_z": 1.0967677095986113,
+            "finger_top_clearance": 0.045998549937618316,
+            "fingertip_min_top_clearance": 0.013799564981285461,
+            "object_projection_between_fingers": 0.8048897468438145,
+            "object_to_finger_line_xy": 0.01096131675023837,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827083421084609,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5263519129121257,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34810016335454547,
+              0.32999240618464487,
+              1.2406534223488075
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+            "held_position": [
+              0.35417027681943786,
+              0.33456933891329455,
+              1.2420101967432675
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007722397777679859,
+            "max_held_gripper_dist": 0.007725000122406194,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013567743944600252,
+            "max_held_gripper_z_dist": 0.0014780377303131864,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08958502150293712,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35417027681943786,
+              0.3085911100336641,
+              1.2420101967432675
+            ],
+            "held_grasp_finger_b": [
+              0.34415343779622587,
+              0.33456933891329455,
+              1.2420101967432675
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+            "held_grasp_midpoint": [
+              0.3491618573078319,
+              0.32158022447347934,
+              1.2420101967432675
+            ],
+            "held_grasp_object_position": [
+              0.35417027681943786,
+              0.33456933891329455,
+              1.2420101967432675
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+            "held_grasp_finger_gap": 0.027842511376300255,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024935951674319442,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09251428318034562,
+              -0.9955510237483401,
+              0.017868030704548784
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037926245375532793,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03180554844668568,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.3204635535008915,
+              0.8470197313722362
+            ],
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+              0.2752815420860957,
+              -0.3221382822243602,
+              0.8084375599031817
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18413954782443115,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197313722362,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535705324912165,
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+            "release_fingertip_min_gap": 0.08568213433627765,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1529960097112416,
+            "release_required_pad_clearance": 0.05284106716813883,
+            "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": 0.7241527625069997,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006913959980010986,
+            "max_z_decrease": 0.006913959980010986,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516484566184548,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006913959980010986,
+            "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": 0.021133143674099526,
+            "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": 0.006913959980010986,
+            "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": 0.006913983727896984,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13098147511482236,
+              -0.3783997297286987,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13098147511482236,
+              -0.3783997297286987,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12907753800322286,
+              -0.37905144453946205,
+              0.8067964916961268
+            ],
+            "closest_button": [
+              0.13096804916858673,
+              -0.37839806079864496,
+              0.7716885805130005
+            ],
+            "closest_ee_minus_button": [
+              -0.0018905111653638729,
+              -0.0006533837408170817,
+              0.035107911183126284
+            ],
+            "button_min_z_position": [
+              0.13096335530281064,
+              -0.3783994913101196,
+              0.7698948979377747
+            ],
+            "min_active_finger_to_button": 0.14767716066613862,
+            "closest_active_finger": [
+              -0.011594243347644806,
+              -0.36094799637794495,
+              0.8111007213592529
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+            "closest_active_finger_button": [
+              0.13098111748695368,
+              -0.37840068340301514,
+              0.7768047451972961
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.14257536083459849,
+              0.01745268702507019,
+              0.03429597616195679
+            ],
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+            "closest_contact_pad": [
+              0.13096335530281064,
+              -0.38042953040975663,
+              0.7909303133794549
+            ],
+            "closest_contact_pad_button": [
+              0.13096335530281064,
+              -0.3783994913101196,
+              0.7698948979377747
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00203003909963706,
+              0.021035415441680194
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "effef3334e41da90f65c76e45d6564971289b273f6daf01c288620ccdc5b6141",
+    "visual_seed": 432361831231702497,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..406b74c681430d1973e3593e77216987ad6ea165
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.3332559195131128,
+              1.0487710032515485
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+            "lift_margin": 0.19218443623833814,
+            "gripper_z": 1.0471854285617657,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3426876633712991,
+              0.32812409819796184,
+              1.0471854285617657
+            ],
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+              0.005653852617929056,
+              0.005131821315150942,
+              0.0015855746897828205
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+            "object_to_gripper_z": 0.0015855746897828205,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34834151598922813,
+              0.30838430607781275,
+              1.0487710032515485
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+            "finger_b": [
+              0.3361364805976167,
+              0.3332559195131128,
+              1.0487710032515485
+            ],
+            "finger_midpoint": [
+              0.3422389982934224,
+              0.32082011279546274,
+              1.0487710032515485
+            ],
+            "object_minus_finger_midpoint": [
+              0.00610251769580572,
+              0.012435806717650044,
+              0.0
+            ],
+            "finger_gap": 0.02770487400775331,
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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": 1.0944169986533692,
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+            "object_projection_between_fingers": 0.8059267283171406,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797812766609573,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2801433059409691,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
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+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f847104a7d760829e585e0bddbb57a4dcbb46ff6d228434c3f5308fae115406c",
+    "visual_seed": 3420763508437218325,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a0bec441a2f361c81e6ae79cf83fda5d3ae5621
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.33378107252064537,
+              1.051690323904718
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+            "gripper_z": 1.0500174361323236,
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+              0.3460641352488514,
+              0.328659091560755,
+              1.0500174361323236
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+              0.00512198095989036,
+              0.0016728877723943825
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+            "object_to_gripper_z": 0.0016728877723943825,
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+              0.3091413169509726,
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+              0.321461194735809,
+              1.051690323904718
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+              0.012319877784836397,
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+            "finger_midpoint_minus_object_z": 0.0,
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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,
+              1.0
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+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "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_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
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+              ],
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3312151738398466,
+              1.241507933697499
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+              0.3357267995760793,
+              1.2430960099745765
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007712399343114235,
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+            "held_gripper_z_dist": 0.001588076277077466,
+            "max_held_gripper_z_dist": 0.0017112126709486475,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08938759917308703,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3096785198137727,
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+              0.3229041161181175,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025279053205943553,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9943397848454976,
+              0.019329826648401327
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003535831013245535,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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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": 0.15466547055293323,
+            "release_required_pad_clearance": 0.05260783494876835,
+            "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": 0.2769513997356147,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0072283148765563965,
+            "max_z_decrease": 0.0072283148765563965,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514530189965357,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072283148765563965,
+            "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": 0.0211179339907623,
+            "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": 0.0072283148765563965,
+            "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": 0.007228335628191538,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13660599291324615,
+              -0.37610262632369984,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13660599291324615,
+              -0.37610262632369984,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13777093309473382,
+              -0.3762314510987849,
+              0.8079789509438625
+            ],
+            "closest_button": [
+              0.1365949362516403,
+              -0.3761060833930968,
+              0.7728535532951355
+            ],
+            "closest_ee_minus_button": [
+              0.0011759968430935241,
+              -0.0001253677056881064,
+              0.03512539764872702
+            ],
+            "button_min_z_position": [
+              0.1365887075662613,
+              -0.37610372900962824,
+              0.7695805430412292
+            ],
+            "min_active_finger_to_button": 0.14500666050108066,
+            "closest_active_finger": [
+              -0.0033718571066856384,
+              -0.35994693636894226,
+              0.8108018636703491
+            ],
+            "closest_active_finger_button": [
+              0.13660570979118347,
+              -0.37610349059104914,
+              0.7765647768974304
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1399775668978691,
+              0.016156554222106878,
+              0.0342370867729187
+            ],
+            "min_contact_pad_to_button": 0.0211179339907623,
+            "closest_contact_pad": [
+              0.1365887075662613,
+              -0.37739687737711586,
+              0.790658847131878
+            ],
+            "closest_contact_pad_button": [
+              0.1365887075662613,
+              -0.37610372900962824,
+              0.7695805430412292
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012931483674876176,
+              0.021078304090648703
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aebe0afaa25fa06523d73b3135169301dd395072194d40144e426bbb8e732b81",
+    "visual_seed": 8610386845620552547,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..38a4dacbee3c587ed239e6ac78fc966129a69bfb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3435768837923691,
+              0.33262531494004016,
+              1.0522347715360445
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+            "current_z": 1.0522347715360445,
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+            "lift_margin": 0.19564814491818938,
+            "gripper_z": 1.0509035035031877,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33791632708712194,
+              0.3274683070207999,
+              1.0509035035031877
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+              0.005660556705247177,
+              0.005157007919240286,
+              0.0013312680328567694
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+            "object_to_gripper_z": 0.0013312680328567694,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3435768837923691,
+              0.3077832957736334,
+              1.0522347715360445
+            ],
+            "finger_b": [
+              0.331292725850496,
+              0.33262531494004016,
+              1.0522347715360445
+            ],
+            "finger_midpoint": [
+              0.33743480482143257,
+              0.32020430535683675,
+              1.0522347715360445
+            ],
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+              0.006142078970936549,
+              0.012421009583203413,
+              0.0
+            ],
+            "finger_gap": 0.027713290180074346,
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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": 0.8035216940392392,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04771800421136084,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.029270356948546225,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34417045266883617,
+              0.33143167288638326,
+              1.2401639344052762
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+            "held_position": [
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+              0.3361426350105989,
+              1.2413989606376221
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007773950980125106,
+            "max_held_gripper_dist": 0.0077749899897885475,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012350262323459482,
+            "max_held_gripper_z_dist": 0.0013497118498990712,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08967604152684244,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.350229814013979,
+              0.31031308203884056,
+              1.2413989606376221
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+            "held_grasp_finger_b": [
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "festo",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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+                "fr3_rightfinger",
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+                "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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+                "table",
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+            },
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.28259046341568533,
+              -0.32256174357857376,
+              0.8470198655123458
+            ],
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+              0.2744829889281566,
+              -0.3257247872200421,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008702642566701384,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18730275065666557,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198655123458,
+            "min_z": 0.5730800627579278,
+            "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": 0.07548901335372475,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515285132503524,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1560977951367401,
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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": 0.21670208006764033,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007229983806610107,
+            "max_z_decrease": 0.007229983806610107,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351336420069256,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007229983806610107,
+            "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": 0.02115391077331535,
+            "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": 0.007229983806610107,
+            "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": 0.007230002986859025,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13018292188644412,
+              -0.38198626041412354,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13018292188644412,
+              -0.38198626041412354,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13101053682622849,
+              -0.38245947782337647,
+              0.8079623623359908
+            ],
+            "closest_button": [
+              0.13017185032367706,
+              -0.3819899260997772,
+              0.7728418707847595
+            ],
+            "closest_ee_minus_button": [
+              0.0008386865025514223,
+              -0.00046955172359924857,
+              0.035120491551231314
+            ],
+            "button_min_z_position": [
+              0.13016629219055179,
+              -0.38198715448379517,
+              0.7695788741111755
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+            "min_active_finger_to_button": 0.1452937214857962,
+            "closest_active_finger": [
+              -0.009883590042591095,
+              -0.3641378879547119,
+              0.8107956647872925
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+            "closest_active_finger_button": [
+              0.1301826685667038,
+              -0.3819874823093414,
+              0.7765451073646545
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1400662586092949,
+              0.01784959435462946,
+              0.03425055742263794
+            ],
+            "min_contact_pad_to_button": 0.02115391077331535,
+            "closest_contact_pad": [
+              0.13016629219055179,
+              -0.3837782840801245,
+              0.7906568198311583
+            ],
+            "closest_contact_pad_button": [
+              0.13016629219055179,
+              -0.38198715448379517,
+              0.7695788741111755
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017911295963293217,
+              0.021077945719982782
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc3a6ed3e4509d3479663600330af781f58c44e15db2736f717132fbb0490377",
+    "visual_seed": 1737809999453880663,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..daefa870c65575803b3ffc1c87fc02d70d97a5d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.351907313014251,
+              0.3300300335552739,
+              1.0517795394233873
+            ],
+            "current_z": 1.0517795394233873,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
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+              -0.3776225447654724,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13379389047622675,
+              -0.3776225447654724,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1321317824431609,
+              -0.3768779713131448,
+              0.8073459041729967
+            ],
+            "closest_button": [
+              0.13378128409385678,
+              -0.3776184022426605,
+              0.7722511291503906
+            ],
+            "closest_ee_minus_button": [
+              -0.0016495016506958837,
+              0.0007404309295157008,
+              0.03509477502260605
+            ],
+            "button_min_z_position": [
+              0.13377626240253446,
+              -0.37762162089347834,
+              0.7697755694389343
+            ],
+            "min_active_finger_to_button": 0.14720409521627037,
+            "closest_active_finger": [
+              0.00587550550699234,
+              -0.44186830520629883,
+              0.8111257553100586
+            ],
+            "closest_active_finger_button": [
+              0.13379469513893122,
+              -0.37762427330017084,
+              0.7767974734306335
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12791918963193888,
+              -0.06424403190612799,
+              0.03432828187942505
+            ],
+            "min_contact_pad_to_button": 0.02106394377596705,
+            "closest_contact_pad": [
+              0.13377626240253446,
+              -0.3778611111861091,
+              0.7908381517069478
+            ],
+            "closest_contact_pad_button": [
+              0.13377626240253446,
+              -0.37762162089347834,
+              0.7697755694389343
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00023949029263076183,
+              0.021062582268013497
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c226f90854798e5e403cf8d61e9e2fdcbf930d252dc38eff122ba9d46d83fdcd",
+    "visual_seed": 7056157242877402196,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f06dd6c9d733857893033a035b099053ade40b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34899321633460884,
+              0.3291298386331763,
+              1.0517999572889678
+            ],
+            "current_z": 1.0517999572889678,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19521339027575746,
+            "gripper_z": 1.0503294840121384,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34298640850127343,
+              0.3238227392111782,
+              1.0503294840121384
+            ],
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+              0.006006807833335404,
+              0.005307099421998085,
+              0.001470473276829365
+            ],
+            "object_to_gripper_xy": 0.008015425417380663,
+            "object_to_gripper_z": 0.001470473276829365,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34899321633460884,
+              0.30401269817489207,
+              1.0517999572889678
+            ],
+            "finger_b": [
+              0.3365211402050329,
+              0.3291298386331763,
+              1.0517999572889678
+            ],
+            "finger_midpoint": [
+              0.3427571782698209,
+              0.31657126840403416,
+              1.0517999572889678
+            ],
+            "object_minus_finger_midpoint": [
+              0.006236038064787952,
+              0.01255857022914214,
+              0.0
+            ],
+            "finger_gap": 0.028043242105418496,
+            "fingertip_max_gap": 0.09206307066947497,
+            "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": 1.0517999572889678,
+            "object_top_z": 1.0976816831291623,
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+            "object_projection_between_fingers": 0.8022023791681376,
+            "object_to_finger_line_xy": 0.01117070867823961,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853153533473749,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9018090706639551,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3494311660007777,
+              0.32745783173955256,
+              1.241849348570917
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+            "held_position": [
+              0.35583598261317945,
+              0.3323022315903473,
+              1.2432381486491917
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008149763886781791,
+            "max_held_gripper_dist": 0.008151430811350639,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013888000782746879,
+            "max_held_gripper_z_dist": 0.001510512141108089,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08925692450332012,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35583598261317945,
+              0.30623577953936393,
+              1.2432381486491917
+            ],
+            "held_grasp_finger_b": [
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+              0.3323022315903473,
+              1.2432381486491917
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+            "held_grasp_midpoint": [
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+              0.3192690055648556,
+              1.2432381486491917
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+            "held_grasp_object_position": [
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+              0.3323022315903473,
+              1.2432381486491917
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+            "held_grasp_finger_gap": 0.028150078880426626,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025351619928331785,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06220993691580831,
+              -0.9979426453282035,
+              0.015504850346866217
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004497864916666048,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031863210815897575,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.28159650601163183,
+              -0.31948378708614006,
+              0.8470197879263253
+            ],
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+              0.2733319192896097,
+              -0.32272799845412065,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.008878530344936538,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18942330466562007,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197879263253,
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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,
+            "release_min_pad_clearance": 0.15817467461966808,
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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": 1.3608253185217247,
+            "object_max_tilt_deg": 12.0,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.006891429424285889,
+            "max_z_decrease": 0.006891429424285889,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035111316434561925,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006891429424285889,
+            "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": 0.02110556111369439,
+            "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": 0.006891429424285889,
+            "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": 0.006891446667204102,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12903185188770291,
+              -0.3789894580841064,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12903185188770291,
+              -0.3789894580841064,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12861241138695237,
+              -0.378933404483795,
+              0.8082682235420955
+            ],
+            "closest_button": [
+              0.1290254890918731,
+              -0.3789912462234497,
+              0.773159384727478
+            ],
+            "closest_ee_minus_button": [
+              -0.0004130777049207446,
+              5.7841739654729274e-05,
+              0.03510883881461746
+            ],
+            "button_min_z_position": [
+              0.12901644408702848,
+              -0.378989964723587,
+              0.7699174284934998
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+            "min_active_finger_to_button": 0.14651716228453662,
+            "closest_active_finger": [
+              0.0009895935654640198,
+              -0.4414222836494446,
+              0.8106117248535156
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+            "closest_active_finger_button": [
+              0.12903195619583124,
+              -0.37899041175842285,
+              0.7763379216194153
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12804236263036722,
+              -0.06243187189102173,
+              0.03427380323410034
+            ],
+            "min_contact_pad_to_button": 0.02110556111369439,
+            "closest_contact_pad": [
+              0.12901644408702848,
+              -0.380088439364896,
+              0.7909943842363553
+            ],
+            "closest_contact_pad_button": [
+              0.12901644408702848,
+              -0.378989964723587,
+              0.7699174284934998
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010984746413090218,
+              0.021076955742855508
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "da6efe962c3b6a91e88930536a60da045e66793c04f5d8ab55ff2a438285055b",
+    "visual_seed": 154287375541907800,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..797d92a87f551f1dffcb2ac41f6cac7a38ecdc3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.34356967500692503,
+              0.3340673121799501,
+              1.0517813299427414
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+            "lift_margin": 0.1951947033248863,
+            "gripper_z": 1.0504149479115925,
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+            "gripper_position": [
+              0.3378816107346321,
+              0.32887742381228013,
+              1.0504149479115925
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+              0.005688064272292959,
+              0.005189888367669981,
+              0.001366382031148916
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+            "object_to_gripper_z": 0.001366382031148916,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34356967500692503,
+              0.3092317720216773,
+              1.0517813299427414
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+            "finger_b": [
+              0.33120533942451563,
+              0.3340673121799501,
+              1.0517813299427414
+            ],
+            "finger_midpoint": [
+              0.3373875072157203,
+              0.3216495421008137,
+              1.0517813299427414
+            ],
+            "object_minus_finger_midpoint": [
+              0.006182167791204729,
+              0.012417770079136414,
+              0.0
+            ],
+            "finger_gap": 0.02774312255943115,
+            "fingertip_max_gap": 0.09061261727078604,
+            "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": 1.0972238270043109,
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+            "object_projection_between_fingers": 0.8013763827903295,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780630863539302,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.10011890919211239,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
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+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa984f624c4149e36837337d249e540e01cbb2ff176669fb4236d0a6836f6e82",
+    "visual_seed": 1339508985711292461,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
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+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f373255681ebc93ede71b60b95222ee60a92cc1c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              0.33525781709204944,
+              1.0479436027852855
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+              0.005236084382745088,
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+              0.3101390298520747,
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+              0.32269842347206207,
+              1.0479436027852855
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+              0.0,
+              1.0
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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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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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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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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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "target": "heater_platform",
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+            "release_min_pad_clearance": 0.15698495200175291,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2392068323121208,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0072585344314575195,
+            "max_z_decrease": 0.0072585344314575195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035135800251161343,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072585344314575195,
+            "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": 0.021240903061847984,
+            "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": 0.0072585344314575195,
+            "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": 0.007258555623607604,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13136623799800867,
+              -0.3787837922573089,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13136623799800867,
+              -0.3787837922573089,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13175408928943624,
+              -0.38042975113079014,
+              0.8077688220909938
+            ],
+            "closest_button": [
+              0.13135538995265955,
+              -0.3787841200828552,
+              0.7726738452911377
+            ],
+            "closest_ee_minus_button": [
+              0.0003986993367766922,
+              -0.0016456310479349145,
+              0.03509497679985607
+            ],
+            "button_min_z_position": [
+              0.1313487291336059,
+              -0.37878274917602534,
+              0.7695503234863281
+            ],
+            "min_active_finger_to_button": 0.14566332359974965,
+            "closest_active_finger": [
+              -0.009664691984653473,
+              -0.3667718172073364,
+              0.810983419418335
+            ],
+            "closest_active_finger_button": [
+              0.13136669993400568,
+              -0.37878465652465815,
+              0.7765793204307556
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14103139191865915,
+              0.012012839317321722,
+              0.034404098987579346
+            ],
+            "min_contact_pad_to_button": 0.021240903061847984,
+            "closest_contact_pad": [
+              0.1313487291336059,
+              -0.3813694461803325,
+              0.790633135478345
+            ],
+            "closest_contact_pad_button": [
+              0.1313487291336059,
+              -0.37878274917602534,
+              0.7695503234863281
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025866970043071924,
+              0.021082811992016892
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff785f9bccac78df213a5330814157db9957cecaddf8436b3a3b778dd6d583d9",
+    "visual_seed": 7503715601498587129,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0675c90a9d8b570bfbeed41ab9a77670f890166
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3510490780086855,
+              0.3301238962704984,
+              1.04844901570325
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+            "lift_margin": 0.19186244869003966,
+            "gripper_z": 1.048178967095893,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3450479204555501,
+              0.3249274673342152,
+              1.048178967095893
+            ],
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+              0.0060011575531354056,
+              0.005196428936283193,
+              0.00027004860735702074
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+            "object_to_gripper_z": 0.00027004860735702074,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3510490780086855,
+              0.30490856856857723,
+              1.04844901570325
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+            "finger_b": [
+              0.3388771297096832,
+              0.3301238962704984,
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+            ],
+            "finger_midpoint": [
+              0.3449631038591844,
+              0.3175162324195378,
+              1.04844901570325
+            ],
+            "object_minus_finger_midpoint": [
+              0.006085974149501128,
+              0.012607663850960571,
+              0.0
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+            "finger_gap": 0.02799944778935572,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807142936558943,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3290909848756085,
+              1.2374701710434783
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+            "held_position": [
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+              0.3340269264719688,
+              1.2375900785025318
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008028359174612868,
+            "max_held_gripper_dist": 0.008029680534572165,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00011990745905343658,
+            "max_held_gripper_z_dist": 0.0002812157733380616,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08903559317839771,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3572706857448747,
+              0.3082732132498787,
+              1.2375900785025318
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+              0.3340269264719688,
+              1.2375900785025318
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+            "held_grasp_midpoint": [
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+              0.32115006986092376,
+              1.2375900785025318
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+            "held_grasp_object_position": [
+              0.3572706857448747,
+              0.3340269264719688,
+              1.2375900785025318
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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",
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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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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3142432435470402,
+              -0.30972383044002844,
+              0.832637533719935
+            ],
+            "target_position": [
+              0.27488552232615554,
+              -0.3191539894068258,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0404716952676799,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22261789295274734,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832637533719935,
+            "min_z": 0.5730800627579278,
+            "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": 0.07586909074729342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.11856860566797549,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19034908737649806,
+            "release_required_pad_clearance": 0.06928430283398775,
+            "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": 8.81107770194951,
+            "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": 477,
+            "max_placed_release_frames": 477
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007188618183135986,
+            "max_z_decrease": 0.007188618183135986,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035137545750050264,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007188618183135986,
+            "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": 0.021077704893872062,
+            "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": 0.007188618183135986,
+            "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": 0.007188638968746249,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13058544695377344,
+              -0.3754154443740845,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13058544695377344,
+              -0.3754154443740845,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12961480537144693,
+              -0.3740916972306992,
+              0.8078413513190073
+            ],
+            "closest_button": [
+              0.13057772815227503,
+              -0.37541750073432917,
+              0.7727420330047607
+            ],
+            "closest_ee_minus_button": [
+              -0.0009629227808281016,
+              0.0013258035036299853,
+              0.03509931831424651
+            ],
+            "button_min_z_position": [
+              0.13056816160678858,
+              -0.3754156827926635,
+              0.7696202397346497
+            ],
+            "min_active_finger_to_button": 0.146450648749506,
+            "closest_active_finger": [
+              0.002455964684486389,
+              -0.4375036954879761,
+              0.8106839060783386
+            ],
+            "closest_active_finger_button": [
+              0.13058534264564509,
+              -0.3754161596298217,
+              0.7763940691947937
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281293779611587,
+              -0.06208753585815435,
+              0.03428983688354492
+            ],
+            "min_contact_pad_to_button": 0.021077704893872062,
+            "closest_contact_pad": [
+              0.13056816160678858,
+              -0.3754156827926635,
+              0.7906979446285217
+            ],
+            "closest_contact_pad_button": [
+              0.13056816160678858,
+              -0.3754156827926635,
+              0.7696202397346497
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021077704893872062
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d2a76d5b2620b6b25f8a8e480227f9c78b473821b50461b1b2a8bf903823578",
+    "visual_seed": 2013373727819029943,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa4f0e54c7c469840e24351039b34b90a3e30f35
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.349435263418016,
+              0.334800761683012,
+              1.0500061478905083
+            ],
+            "current_z": 1.0500061478905083,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1934196404819427,
+            "gripper_z": 1.0486815760475938,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34386207961722615,
+              0.3296661432429011,
+              1.0486815760475938
+            ],
+            "object_minus_gripper": [
+              0.00557318380078986,
+              0.005134618440110872,
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+              0.0007495030792077362,
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+            ],
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+              0.7699169516563416
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+              -0.43907472491264343,
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+              0.12737801671028137,
+              -0.3785844445228576,
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+            "closest_active_finger_minus_button": [
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+              -0.06049028038978582,
+              0.03422600030899048
+            ],
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+            "closest_contact_pad": [
+              0.12736131250858307,
+              -0.3791493111357874,
+              0.7910040579626122
+            ],
+            "closest_contact_pad_button": [
+              0.12736131250858307,
+              -0.3785841166973114,
+              0.7699169516563416
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005651944384760244,
+              0.021087106306270642
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11f4760280ebde9edcb4a6c218287d4211724a320b816119206e6d4da3866735",
+    "visual_seed": 2356691818301733,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0cdaea2a1a9b13d5ae4304a1f424e3bae5ef1d9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.35283543543633766,
+              0.3280768221405951,
+              1.0474449441098583
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+            "gripper_position": [
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+              0.32288195370402767,
+              1.0475499013171206
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+              0.0051948684365674125,
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+              0.3030277804635269,
+              1.0474449441098583
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+              1.0474449441098583
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+              0.315552301302061,
+              1.0474449441098583
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+              0.012524520838534059,
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
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+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0004030192882849004,
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+            "held_object_xy_range": 0.08933403442196325,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3180471586679705,
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+            "held_grasp_z_skew": 0.025353337519049217,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9985480070920485,
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+            "held_grasp_object_to_finger_line_xy": 0.0044955586662889175,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2818962721461183,
+              -0.3242918843549445,
+              0.8470195123838807
+            ],
+            "target_position": [
+              0.27415181332578015,
+              -0.3272625424717055,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008294664071955612,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18821814462740424,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195123838807,
+            "min_z": 0.5730800627579278,
+            "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": 0.07555680129894567,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08696807644500378,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15664261275792457,
+            "release_required_pad_clearance": 0.05348403822250189,
+            "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": 1.980631198824083,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007195711135864258,
+            "max_z_decrease": 0.007195711135864258,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035139718917007894,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007195711135864258,
+            "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": 0.021170200979744647,
+            "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": 0.007195711135864258,
+            "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": 0.0071957297223153235,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12985174357891077,
+              -0.38352400064468384,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12985174357891077,
+              -0.38352400064468384,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12800139479570283,
+              -0.3847782530864089,
+              0.8079850364946071
+            ],
+            "closest_button": [
+              0.12984567880630488,
+              -0.38352492451667786,
+              0.7729161381721497
+            ],
+            "closest_ee_minus_button": [
+              -0.0018442840106020486,
+              -0.0012533285697310381,
+              0.03506889832245741
+            ],
+            "button_min_z_position": [
+              0.1298354566097259,
+              -0.38352251052856445,
+              0.7696131467819214
+            ],
+            "min_active_finger_to_button": 0.14787023928484846,
+            "closest_active_finger": [
+              -0.013302646577358246,
+              -0.36972200870513916,
+              0.8110223412513733
+            ],
+            "closest_active_finger_button": [
+              0.12985245883464808,
+              -0.3835255205631256,
+              0.7766466736793518
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14315510541200632,
+              0.01380351185798645,
+              0.034375667572021484
+            ],
+            "min_contact_pad_to_button": 0.021170200979744647,
+            "closest_contact_pad": [
+              0.1298354566097259,
+              -0.3858247737227076,
+              0.7906577896562416
+            ],
+            "closest_contact_pad_button": [
+              0.1298354566097259,
+              -0.38352251052856445,
+              0.7696131467819214
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023022631941431726,
+              0.021044642874320174
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c75707750ad36a277780ad57f99bd06074b95449b6f64c17dd2dd05a76eacb18",
+    "visual_seed": 3551128293968633751,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd1e5f073942c3006809476af4ead85125356ff1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.3349395101840828,
+              1.0496202866912965
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+            "current_z": 1.0496202866912965,
+            "required_z": 0.8565865074085656,
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+            "lift_margin": 0.1930337792827309,
+            "gripper_z": 1.0491466041053112,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3472101912280662,
+              0.3297337051910827,
+              1.0491466041053112
+            ],
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+              0.006012696287227781,
+              0.005205804993000107,
+              0.0004736825859852356
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+            "object_to_gripper_xy": 0.007953170579560557,
+            "object_to_gripper_z": 0.0004736825859852356,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35322288751529396,
+              0.30970381367918737,
+              1.0496202866912965
+            ],
+            "finger_b": [
+              0.34105131190843474,
+              0.3349395101840828,
+              1.0496202866912965
+            ],
+            "finger_midpoint": [
+              0.34713709971186435,
+              0.3223216619316351,
+              1.0496202866912965
+            ],
+            "object_minus_finger_midpoint": [
+              0.00608578780342961,
+              0.012617848252447716,
+              0.0
+            ],
+            "finger_gap": 0.028017630714260652,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014008815357130326,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496202866912965,
+            "object_top_z": 1.0949211494359983,
+            "finger_top_clearance": 0.0453008627447018,
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+            "object_projection_between_fingers": 0.811274411298899,
+            "object_to_finger_line_xy": 0.010963032211169356,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047912897388819,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7984621133314517,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
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+        "ordinary_object_physical_only": true
+      }
+    }
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
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+    "step_seeds": [
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+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa15e9bd13a31db389751bb977eb4c3ab4fe618193c55a82e59437597e82e95a",
+    "visual_seed": 1904151782068454212,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      8216466612410408910,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..497bd149fae8fb25e9a959177312ef51832ed337
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "elbow_joint",
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+                "finger",
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+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
+                "gripper_center",
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+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "split_aloha",
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+                "ur5e",
+                "visuals",
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+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
+                "defaultgroundplane",
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+                "groundplane",
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+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "shake",
+          "target": "beaker_b",
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+          "metrics": {
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+          "failure_code": null,
+          "failure_messages": {},
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "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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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
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+            "release_min_pad_clearance": 0.1579841961966329,
+            "release_required_pad_clearance": 0.05302025926100069,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 1.0711765805514304,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.007365405559539795,
+            "max_z_decrease": 0.007365405559539795,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516615204826631,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007365405559539795,
+            "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": 0.021166352442165814,
+            "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": 0.007365405559539795,
+            "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": 0.0073654296742364745,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1368379294872284,
+              -0.3809767961502075,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1368379294872284,
+              -0.3809767961502075,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13511942196446403,
+              -0.3821803921802052,
+              0.8062675118851919
+            ],
+            "closest_button": [
+              0.1368240714073181,
+              -0.3809745609760284,
+              0.7711634039878845
+            ],
+            "closest_ee_minus_button": [
+              -0.0017046494428540615,
+              -0.0012058312041768326,
+              0.035104107897307335
+            ],
+            "button_min_z_position": [
+              0.13681909441947937,
+              -0.38097611069679255,
+              0.7694434523582458
+            ],
+            "min_active_finger_to_button": 0.1474438987298049,
+            "closest_active_finger": [
+              -0.005780994892120361,
+              -0.366035133600235,
+              0.8107274174690247
+            ],
+            "closest_active_finger_button": [
+              0.13683851063251495,
+              -0.380978524684906,
+              0.7764334678649902
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14261950552463531,
+              0.01494339108467102,
+              0.034293949604034424
+            ],
+            "min_contact_pad_to_button": 0.021166352442165814,
+            "closest_contact_pad": [
+              0.13681909441947937,
+              -0.3833749395684046,
+              0.7904734332367607
+            ],
+            "closest_contact_pad_button": [
+              0.13681909441947937,
+              -0.38097611069679255,
+              0.7694434523582458
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00239882887161208,
+              0.02102998087851482
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "777461aa13e1ab833cf8f406afaf22817cb0cd7bae890910ffdb438ef3341d08",
+    "visual_seed": 1262360675203018158,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..43097ceebaa54b1b570d81e300ddceb316553fd7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.34703415533700294,
+              0.33533027988215686,
+              1.0501456471999384
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+            "current_z": 1.0501456471999384,
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+            "lift_margin": 0.19355908018672807,
+            "gripper_z": 1.0484562693742856,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34152090621906295,
+              0.3301410275409591,
+              1.0484562693742856
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+              0.005513249117939989,
+              0.00518925234119777,
+              0.0016893778256528158
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+            "object_to_gripper_z": 0.0016893778256528158,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.34703415533700294,
+              0.31071954964979104,
+              1.0501456471999384
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+            "finger_b": [
+              0.33453951394822323,
+              0.33533027988215686,
+              1.0501456471999384
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+            "finger_midpoint": [
+              0.34078683464261306,
+              0.32302491476597395,
+              1.0501456471999384
+            ],
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+              0.00624732069438988,
+              0.01230536511618291,
+              0.0
+            ],
+            "finger_gap": 0.02760079901025497,
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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": 1.095507763144104,
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+            "object_projection_between_fingers": 0.7950705933405847,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04767190865372396,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34791090457528057,
+              0.3337489498681115,
+              1.2400277943659885
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+            "held_position": [
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+              0.3384084983438441,
+              1.2416485332589744
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007758904521588707,
+            "max_held_gripper_dist": 0.007760878115655612,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0016207388929858624,
+            "max_held_gripper_z_dist": 0.00173348017223951,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0896954453548694,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3538994280008163,
+              0.3125391432633314,
+              1.2416485332589744
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+              0.3254738208035878,
+              1.2416485332589744
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+            "held_grasp_object_position": [
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+              0.3384084983438441,
+              1.2416485332589744
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+            "held_grasp_finger_gap": 0.027824658394741297,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02477754755750064,
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+                "beaker_b"
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+                "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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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+                "groundplane",
+                "link0",
+                "table",
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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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2875178291096126,
+              -0.32501758488146215,
+              0.847019432586302
+            ],
+            "target_position": [
+              0.27808607402703833,
+              -0.32902645062411995,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010248366137112821,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18951675804072593,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019432586302,
+            "min_z": 0.5730800627579278,
+            "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": 0.07562859373447924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564536380039094,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1579479456538227,
+            "release_required_pad_clearance": 0.05282268190019547,
+            "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": 0.689834668216994,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0071677565574646,
+            "max_z_decrease": 0.0071677565574646,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514052621431299,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0071677565574646,
+            "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": 0.021184512556307076,
+            "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": 0.0071677565574646,
+            "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": 0.0071677735064079465,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.133785992860794,
+              -0.3852879106998443,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.133785992860794,
+              -0.3852879106998443,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1324791398297469,
+              -0.3868325469795793,
+              0.8082074787897047
+            ],
+            "closest_button": [
+              0.13378122448921204,
+              -0.3852883577346801,
+              0.7731250524520874
+            ],
+            "closest_ee_minus_button": [
+              -0.0013020846594651303,
+              -0.0015441892448991856,
+              0.03508242633761727
+            ],
+            "button_min_z_position": [
+              0.13377045094966886,
+              -0.38528671860694885,
+              0.769641101360321
+            ],
+            "min_active_finger_to_button": 0.14733245111111576,
+            "closest_active_finger": [
+              -0.00894523411989212,
+              -0.37292200326919556,
+              0.8107126355171204
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+            "closest_active_finger_button": [
+              0.13378597795963285,
+              -0.38528877496719355,
+              0.7763365507125854
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14273121207952497,
+              0.012366771697997991,
+              0.03437608480453491
+            ],
+            "min_contact_pad_to_button": 0.021184512556307076,
+            "closest_contact_pad": [
+              0.13377045094966886,
+              -0.38774272136643284,
+              0.7906827653319213
+            ],
+            "closest_contact_pad_button": [
+              0.13377045094966886,
+              -0.38528671860694885,
+              0.769641101360321
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024560027594839884,
+              0.021041663971600233
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82449ff1e991901e0aba18d03679751f4c994e29b8db07f529f09a4a50e4d58b",
+    "visual_seed": 4391475739965985857,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..71d78028c6660388a2cdffd9f0088d65dc6601ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_89_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.349523245943581,
+              0.32943235229389123,
+              1.048130477638545
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+            "current_z": 1.048130477638545,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19154402983462415,
+            "gripper_z": 1.0473793295275113,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3436430893651562,
+              0.32423592889888553,
+              1.0473793295275113
+            ],
+            "object_minus_gripper": [
+              0.005880156578424778,
+              0.0051964233950057,
+              0.000751148111033606
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+            "object_to_gripper_xy": 0.007847232473105073,
+            "object_to_gripper_z": 0.000751148111033606,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.349523245943581,
+              0.304325348174996,
+              1.048130477638545
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+              -0.0026191771030426025,
+              -0.36511242389678955,
+              0.8105719089508057
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+              0.13646806776523587,
+              -0.3799057602882385,
+              0.7763389348983765
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.014793336391448975,
+              0.0342329740524292
+            ],
+            "min_contact_pad_to_button": 0.021251287773502218,
+            "closest_contact_pad": [
+              0.1364514827728271,
+              -0.3826807626538968,
+              0.7907542240658146
+            ],
+            "closest_contact_pad_button": [
+              0.1364514827728271,
+              -0.37990519404411316,
+              0.7696849703788757
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027755686097836185,
+              0.021069253686938905
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17d90d89b051cd08b7a693abdd3e65cd30d3c8bf5293f7736e8084fde20dfb31",
+    "visual_seed": 3089798251502070042,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce68b7e1ccce88f0dbb4a761c8a639b66b0ae2e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "object_position": [
+              0.351456071443632,
+              0.33293784899331563,
+              1.0513827577105577
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+            "current_z": 1.0513827577105577,
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+            "lift_margin": 0.19479630990663688,
+            "gripper_z": 1.0496305565939328,
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+            "gripper_position": [
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+              0.32776568939667733,
+              1.0496305565939328
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+              0.005172159596638304,
+              0.0017522011166248852
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+            "object_to_gripper_z": 0.0017522011166248852,
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+              0.3082493320120631,
+              1.0513827577105577
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+              1.0513827577105577
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+              0.3205935905026894,
+              1.0513827577105577
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+              0.012344258490626259,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779882941274706,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.33131776229308174,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "max_held_gripper_dist": 0.0077887839134959955,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0017935994819830992,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09009454368107173,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3100957164535508,
+              1.2432873284918842
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+              0.3230378391095847,
+              1.2432873284918842
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+            "held_grasp_object_position": [
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+              0.3359799617656186,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024782496483655686,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9953490695459227,
+              0.009465491881812114
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038560274711808263,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.28272168268545533,
+              -0.3200933962597799,
+              0.8470193608444829
+            ],
+            "target_position": [
+              0.2764586271492837,
+              -0.32220219139528017,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006608546101275201,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18645296217982849,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193608444829,
+            "min_z": 0.5730800627579278,
+            "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": 0.07583844616045028,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504200461326238,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15421425936296662,
+            "release_required_pad_clearance": 0.05252100230663119,
+            "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": 0.1119049298535071,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007103681564331055,
+            "max_z_decrease": 0.007103681564331055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517705690536934,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007103681564331055,
+            "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": 0.021082970084226122,
+            "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": 0.007103681564331055,
+            "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": 0.007103706095706657,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1321585476398468,
+              -0.37846365571022034,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1321585476398468,
+              -0.37846365571022034,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1336950814438837,
+              -0.3776273216275763,
+              0.8081014353463543
+            ],
+            "closest_button": [
+              0.13214774429798126,
+              -0.3784675002098084,
+              0.7729684710502625
+            ],
+            "closest_ee_minus_button": [
+              0.0015473371459024388,
+              0.0008401785822321206,
+              0.035132964296091806
+            ],
+            "button_min_z_position": [
+              0.1321399062871933,
+              -0.3784646689891815,
+              0.7697051763534546
+            ],
+            "min_active_finger_to_button": 0.14442578515018523,
+            "closest_active_finger": [
+              0.005362078547477722,
+              -0.43858423829078674,
+              0.8108540773391724
+            ],
+            "closest_active_finger_button": [
+              0.1321607232093811,
+              -0.3784639239311218,
+              0.7767006158828735
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12679864466190338,
+              -0.06012031435966492,
+              0.03415346145629883
+            ],
+            "min_contact_pad_to_button": 0.021082970084226122,
+            "closest_contact_pad": [
+              0.1321399062871933,
+              -0.378984902064259,
+              0.7907817269516898
+            ],
+            "closest_contact_pad_button": [
+              0.1321399062871933,
+              -0.3784646689891815,
+              0.7697051763534546
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005202330750774808,
+              0.02107655059823521
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ba056d466fcc36c63808a82886483ebaaca9989c5472b026bdf112335511329",
+    "visual_seed": 1398210994363547957,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d860f7e08b767b21d5a76e2989d2d3aef7da8ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3455098275602048,
+              0.3273883588564764,
+              1.0515121390963864
+            ],
+            "current_z": 1.0515121390963864,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19492563168782084,
+            "gripper_z": 1.050446129894473,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3398288886673194,
+              0.32211278734825965,
+              1.050446129894473
+            ],
+            "object_minus_gripper": [
+              0.005680938892885401,
+              0.005275571508216725,
+              0.0010660092019134648
+            ],
+            "object_to_gripper_xy": 0.00775272348552469,
+            "object_to_gripper_z": 0.0010660092019134648,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3455098275602048,
+              0.3026723036971164,
+              1.0515121390963864
+            ],
+            "finger_b": [
+              0.3328682898510614,
+              0.3273883588564764,
+              1.0515121390963864
+            ],
+            "finger_midpoint": [
+              0.3391890587056331,
+              0.31503033127679636,
+              1.0515121390963864
+            ],
+            "object_minus_finger_midpoint": [
+              0.006320768854571723,
+              0.01235802757968002,
+              0.0
+            ],
+            "finger_gap": 0.027761337473043688,
+            "fingertip_max_gap": 0.09118778866615943,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01388066873652188,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0515121390963864,
+            "object_top_z": 1.0973394243744008,
+            "finger_top_clearance": 0.045827285278014385,
+            "fingertip_min_top_clearance": 0.013748185583404349,
+            "object_projection_between_fingers": 0.7926428391162522,
+            "object_to_finger_line_xy": 0.011254823137455332,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048093894333079715,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.41729727629178387,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+        "target": "heat_button",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
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+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
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+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d07fb1d882f9b4eac0669e706b839c82742b64a0d386459376966b19de7a563c",
+    "visual_seed": 4622256826814446637,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c5e44eafb2a5d99167fd9ee079267cb882b604
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              0.0,
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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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",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1544617817588984,
+            "release_required_pad_clearance": 0.05290374844561284,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.8448711510372688,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007396042346954346,
+            "max_z_decrease": 0.007396042346954346,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513747118042417,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007396042346954346,
+            "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": 0.021235334786805306,
+            "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": 0.007396042346954346,
+            "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": 0.0073960641973701115,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13229060173034665,
+              -0.3825421929359436,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13229060173034665,
+              -0.3825421929359436,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.132035792423152,
+              -0.38418764317745285,
+              0.8078601366323024
+            ],
+            "closest_button": [
+              0.13228277862071985,
+              -0.3825439512729645,
+              0.7727620005607605
+            ],
+            "closest_ee_minus_button": [
+              -0.00024698619756785556,
+              -0.0016436919044883758,
+              0.035098136071541886
+            ],
+            "button_min_z_position": [
+              0.13227264583110807,
+              -0.3825412988662719,
+              0.7694128155708313
+            ],
+            "min_active_finger_to_button": 0.1462720104620326,
+            "closest_active_finger": [
+              -0.009246453642845154,
+              -0.36902523040771484,
+              0.810815155506134
+            ],
+            "closest_active_finger_button": [
+              0.13229067623615265,
+              -0.3825430274009704,
+              0.7764638662338257
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1415371298789978,
+              0.01351779699325556,
+              0.03435128927230835
+            ],
+            "min_contact_pad_to_button": 0.021235334786805306,
+            "closest_contact_pad": [
+              0.13227264583110807,
+              -0.385242413899049,
+              0.7904756601338861
+            ],
+            "closest_contact_pad_button": [
+              0.13227264583110807,
+              -0.3825412988662719,
+              0.7694128155708313
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027011150327770905,
+              0.02106284456305485
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c7b5dbcde63845371a8e0566572b765889b8a3d7b29b22396451030c6caf92d",
+    "visual_seed": 3448945184440148164,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c0a9289141f7dc38d1c80193a6995310f9207b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.346071415978074,
+              0.33575155910823556,
+              1.0519979905531245
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+            "lift_margin": 0.19541142353991414,
+            "gripper_z": 1.0505393788261281,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34035231268538474,
+              0.33061892373708857,
+              1.0505393788261281
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+              0.005719103292689265,
+              0.0051326353711469985,
+              0.0014586117269963506
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+            "object_to_gripper_xy": 0.007684535661027182,
+            "object_to_gripper_z": 0.0014586117269963506,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.346071415978074,
+              0.3108613604489869,
+              1.0519979905531245
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+              0.3338107750474545,
+              0.33575155910823556,
+              1.0519979905531245
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+            "finger_midpoint": [
+              0.33994109551276425,
+              0.3233064597786112,
+              1.0519979905531245
+            ],
+            "object_minus_finger_midpoint": [
+              0.006130320465309758,
+              0.012445099329624343,
+              0.0
+            ],
+            "finger_gap": 0.027746086306476587,
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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_to_finger_line_xy": 0.010998660678915329,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830791304217118,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5429733839032461,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.33383040305909584,
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+            "held_position": [
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+              0.3384657257784354,
+              1.2420228868325818
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007820794289364483,
+            "max_held_gripper_dist": 0.007822289294394378,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013659886631913754,
+            "max_held_gripper_z_dist": 0.0014887252813819973,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08921876761991304,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.31248926908526636,
+              1.2420228868325818
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+              0.3254774974318509,
+              1.2420228868325818
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+            "held_grasp_object_position": [
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+              0.3384657257784354,
+              1.2420228868325818
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+            "held_grasp_finger_gap": 0.02789394526155911,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02493162471729297,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0917019443408243,
+              -0.9956567167322333,
+              0.016076561513630235
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+                "beaker_b"
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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",
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2840169502701842,
+              -0.3198285803930078,
+              0.8470198160010777
+            ],
+            "target_position": [
+              0.2776126271915909,
+              -0.32160328569365265,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006645670244538129,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18563765037813135,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198160010777,
+            "min_z": 0.5730800627579278,
+            "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": 0.07589722590296917,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527690016582744,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533295743366584,
+            "release_required_pad_clearance": 0.05263845008291372,
+            "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": 0.33571674961586984,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007003188133239746,
+            "max_z_decrease": 0.007003188133239746,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515615507654876,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007003188133239746,
+            "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": 0.021083018685493782,
+            "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": 0.007003188133239746,
+            "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": 0.007003209242018446,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13331255316734308,
+              -0.37786474823951716,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13331255316734308,
+              -0.37786474823951716,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1332894205827857,
+              -0.3760930030854864,
+              0.8081994463886211
+            ],
+            "closest_button": [
+              0.1333032846450805,
+              -0.3778661489486694,
+              0.7730880379676819
+            ],
+            "closest_ee_minus_button": [
+              -1.386406229481052e-05,
+              0.001773145863183001,
+              0.03511140842093918
+            ],
+            "button_min_z_position": [
+              0.13329537212848658,
+              -0.37786543369293213,
+              0.7698056697845459
+            ],
+            "min_active_finger_to_button": 0.1454191624767321,
+            "closest_active_finger": [
+              0.006258100271224976,
+              -0.43975651264190674,
+              0.8105119466781616
+            ],
+            "closest_active_finger_button": [
+              0.1333120018243789,
+              -0.37786510586738586,
+              0.7762556672096252
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12705390155315394,
+              -0.061891406774520874,
+              0.03425627946853638
+            ],
+            "min_contact_pad_to_button": 0.021083018685493782,
+            "closest_contact_pad": [
+              0.13329537212848658,
+              -0.37786543369293213,
+              0.7908886884700397
+            ],
+            "closest_contact_pad_button": [
+              0.13329537212848658,
+              -0.37786543369293213,
+              0.7698056697845459
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021083018685493782
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e3e2c0d859bd0dfb1e6d322c37b2b14fb0e24dae55a989a8e32c812f06e11de",
+    "visual_seed": 2886250357912750048,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b44857cc8e8620e36bcb0460bb77a40c6a86808
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34454385018492034,
+              0.33523240847251085,
+              1.0498376981470388
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+            "current_z": 1.0498376981470388,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1932511311338284,
+            "gripper_z": 1.0482445601053725,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33900129833333315,
+              0.33012767072942595,
+              1.0482445601053725
+            ],
+            "object_minus_gripper": [
+              0.005542551851587196,
+              0.005104737743084897,
+              0.0015931380416662755
+            ],
+            "object_to_gripper_xy": 0.0075351329419730976,
+            "object_to_gripper_z": 0.0015931380416662755,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34454385018492034,
+              0.31050958024835,
+              1.0498376981470388
+            ],
+            "finger_b": [
+              0.332268310509385,
+              0.33523240847251085,
+              1.0498376981470388
+            ],
+            "finger_midpoint": [
+              0.3384060803471527,
+              0.32287099436043043,
+              1.0498376981470388
+            ],
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+              0.1314796507358551,
+              -0.37738108634948725,
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+            "closest_active_finger_minus_button": [
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+              0.01567536592483515,
+              0.034248173236846924
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+            "closest_contact_pad": [
+              0.13146112859249115,
+              -0.3800852446123899,
+              0.7907588637910905
+            ],
+            "closest_contact_pad_button": [
+              0.13146112859249115,
+              -0.3773821294307709,
+              0.7696791887283325
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027031151816190313,
+              0.021079675062757985
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "adf2e7798a65694d602e431bb5db1014eac76c8da5aaa5ad5bf6dad061e7fa6d",
+    "visual_seed": 3695034109764498372,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac86049054786ce05cbf6b0d792b162e0f7addc1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.33050411877505886,
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+            "gripper_z": 1.0497039644017143,
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+              0.33914474782266135,
+              0.3254060142474929,
+              1.0497039644017143
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+              0.005098104527565983,
+              0.0015022307219871855
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+            "object_to_gripper_z": 0.0015022307219871855,
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+              0.30580765428370354,
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+              0.3181558865293812,
+              1.0512061951237015
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.0013871471695625637,
+            "max_held_gripper_z_dist": 0.001515222998758281,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08953400688169222,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3197854318408321,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.003602642490899173,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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,
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+          }
+        },
+        "gripper": null,
+        "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
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2842312800547194,
+              -0.32083125189561107,
+              0.8470194133485145
+            ],
+            "target_position": [
+              0.2752316308800874,
+              -0.3241378403045809,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009587867968051542,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18778268417164098,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194133485145,
+            "min_z": 0.5730800627579278,
+            "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": 0.07527488716744898,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08653374613996277,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1569183822533675,
+            "release_required_pad_clearance": 0.05326687306998139,
+            "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": 1.553146114924191,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007226824760437012,
+            "max_z_decrease": 0.007226824760437012,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516582747059925,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007226824760437012,
+            "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": 0.021301080714002562,
+            "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": 0.007226824760437012,
+            "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": 0.007226849190887348,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.130931556224823,
+              -0.3803992867469787,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.130931556224823,
+              -0.3803992867469787,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13101046420467294,
+              -0.3824560930541218,
+              0.8079638091990597
+            ],
+            "closest_button": [
+              0.13092343509197235,
+              -0.3804018199443816,
+              0.7728581428527832
+            ],
+            "closest_ee_minus_button": [
+              8.702911270058733e-05,
+              -0.0020542731097402123,
+              0.03510566634627654
+            ],
+            "button_min_z_position": [
+              0.13091276586055756,
+              -0.3803991079330444,
+              0.7695820331573486
+            ],
+            "min_active_finger_to_button": 0.14588737147005895,
+            "closest_active_finger": [
+              -0.010131314396858215,
+              -0.36603009700775146,
+              0.8108906149864197
+            ],
+            "closest_active_finger_button": [
+              0.1309318244457245,
+              -0.3804004490375518,
+              0.7765713930130005
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1410631388425827,
+              0.01437035202980036,
+              0.03431922197341919
+            ],
+            "min_contact_pad_to_button": 0.021301080714002562,
+            "closest_contact_pad": [
+              0.13091276586055756,
+              -0.38358959830786615,
+              0.790642821621996
+            ],
+            "closest_contact_pad_button": [
+              0.13091276586055756,
+              -0.3803991079330444,
+              0.7695820331573486
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003190490374821775,
+              0.021060788464647318
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddec403aa53aad5d0168f7a77f675ea17ae141c407c689e233f13fbce8d60fd0",
+    "visual_seed": 1209533932709690752,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7886d54591560f92d11a985bc2c79480f5d5ec2a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.34362117262556224,
+              0.3353644205863046,
+              1.0496042190927282
+            ],
+            "current_z": 1.0496042190927282,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19301777128880737,
+            "gripper_z": 1.0482642200727903,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3379452512030172,
+              0.3302431730732614,
+              1.0482642200727903
+            ],
+            "object_minus_gripper": [
+              0.005675921422545027,
+              0.0051212475130432145,
+              0.0013399990199378653
+            ],
+            "object_to_gripper_xy": 0.007644819166256117,
+            "object_to_gripper_z": 0.0013399990199378653,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34362117262556224,
+              0.31052479523476423,
+              1.0496042190927282
+            ],
+            "finger_b": [
+              0.33134497798547674,
+              0.3353644205863046,
+              1.0496042190927282
+            ],
+            "finger_midpoint": [
+              0.33748307530551946,
+              0.3229446079105344,
+              1.0496042190927282
+            ],
+            "object_minus_finger_midpoint": [
+              0.006138097320042779,
+              0.012419812675770192,
+              0.0
+            ],
+            "finger_gap": 0.0277076152428561,
+            "fingertip_max_gap": 0.09193716255315329,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013853807621428063,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496042190927282,
+            "object_top_z": 1.0957895878379853,
+            "finger_top_clearance": 0.04618536874525714,
+            "fingertip_min_top_clearance": 0.013855610623577107,
+            "object_projection_between_fingers": 0.803695961324928,
+            "object_to_finger_line_xy": 0.011005496970040902,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846858127657665,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6575793391693793,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bec063c16e0e61e2a8e195acdef023c91a8fdb905e3bf3279f6efa68173d9853",
+    "visual_seed": 8852109719536205428,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93b53056790befa87dcaae6c48d96258b517fe33
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              0.33323881684398104,
+              1.0486581997079314
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+              0.32794796173298163,
+              1.0473765132185524
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+              0.005290855110999415,
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+              0.30856826050028097,
+              1.0486581997079314
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+              1.0486581997079314
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+              0.320903538672131,
+              1.0486581997079314
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+              0.01233527817185004,
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+              0.0,
+              1.0
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+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                },
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.3316903449962146,
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+            "held_shake_count": 5,
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+              0.3234941516334717,
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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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",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15624090910594918,
+            "release_required_pad_clearance": 0.0530496739131788,
+            "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": 1.1295052024230845,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007163047790527344,
+            "max_z_decrease": 0.007163047790527344,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513396252541608,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007163047790527344,
+            "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": 0.02110958101661487,
+            "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": 0.007163047790527344,
+            "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": 0.007163068182522777,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1283076405525207,
+              -0.37926980853080744,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1283076405525207,
+              -0.37926980853080744,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12994902808339823,
+              -0.37914865810371057,
+              0.8080669945304116
+            ],
+            "closest_button": [
+              0.12830333411693567,
+              -0.37927097082138056,
+              0.7729718089103699
+            ],
+            "closest_ee_minus_button": [
+              0.0016456939664625525,
+              0.0001223127176699923,
+              0.03509518562004177
+            ],
+            "button_min_z_position": [
+              0.12829054892063138,
+              -0.379269927740097,
+              0.7696458101272583
+            ],
+            "min_active_finger_to_button": 0.14464535042847365,
+            "closest_active_finger": [
+              -0.01150822639465332,
+              -0.36555400490760803,
+              0.8111410737037659
+            ],
+            "closest_active_finger_button": [
+              0.1283106207847595,
+              -0.3792689144611358,
+              0.7767191529273987
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13981884717941281,
+              0.013714909553527777,
+              0.03442192077636719
+            ],
+            "min_contact_pad_to_button": 0.02110958101661487,
+            "closest_contact_pad": [
+              0.12829054892063138,
+              -0.380024994141442,
+              0.7907418828761513
+            ],
+            "closest_contact_pad_button": [
+              0.12829054892063138,
+              -0.379269927740097,
+              0.7696458101272583
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007550664013449837,
+              0.021096072748893024
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "141de85c1fa2aaecfbfabff61ad7372134de92ebde25b6d92f770137e508b6fc",
+    "visual_seed": 7507067123086775391,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecf0ef3767112f3a8c7da8718035165546fc169b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3525046273661512,
+              0.33423532976828857,
+              1.0507035830915024
+            ],
+            "current_z": 1.0507035830915024,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19411713528758157,
+            "gripper_z": 1.0492401852110655,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3468971754694873,
+              0.3290519847625949,
+              1.0492401852110655
+            ],
+            "object_minus_gripper": [
+              0.005607451896663895,
+              0.005183345005693674,
+              0.001463397880436812
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+            "object_to_gripper_xy": 0.007636136603116072,
+            "object_to_gripper_z": 0.001463397880436812,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3525046273661512,
+              0.30951058668170756,
+              1.0507035830915024
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+            "finger_b": [
+              0.3400739867535494,
+              0.33423532976828857,
+              1.0507035830915024
+            ],
+            "finger_midpoint": [
+              0.3462893070598503,
+              0.32187295822499806,
+              1.0507035830915024
+            ],
+            "object_minus_finger_midpoint": [
+              0.006215320306300898,
+              0.012362371543290507,
+              0.0
+            ],
+            "finger_gap": 0.027673701355928174,
+            "fingertip_max_gap": 0.09115315059235893,
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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": 1.096417225301081,
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+            "object_projection_between_fingers": 0.7982318921071131,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048076575296179466,
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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": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3533019475175941,
+              0.3328530875193592,
+              1.2388992128891108
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+            "held_position": [
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+              0.3375435664354027,
+              1.2402750984109294
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007775037342028789,
+            "max_held_gripper_dist": 0.007776121362108986,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001375885521818665,
+            "max_held_gripper_z_dist": 0.0014945424065091473,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08964585347020015,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              0.3116862928471612,
+              1.2402750984109294
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+              0.3375435664354027,
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+            "held_grasp_midpoint": [
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+              0.3246149296412819,
+              1.2402750984109294
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+            "held_grasp_object_position": [
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+              0.3375435664354027,
+              1.2402750984109294
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+            "held_grasp_finger_gap": 0.027843303044610444,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024918059771037688,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08222648255231657,
+              -0.9965176136973675,
+              0.01383658765657425
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004087080719336522,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03189202627845526,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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+                "/World/target_beaker"
+              ],
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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"
+              ],
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+            },
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2833741756582937,
+              -0.3228261011758337,
+              0.8470189923717373
+            ],
+            "target_position": [
+              0.2755946352218443,
+              -0.3257106304116176,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008297093365416786,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18555891580077233,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189923717373,
+            "min_z": 0.5730800627579278,
+            "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": 0.07552987926429966,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08526547612876755,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15421901273651234,
+            "release_required_pad_clearance": 0.052632738064383774,
+            "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": 0.3238480729113716,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007397592067718506,
+            "max_z_decrease": 0.007397592067718506,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511569686677792,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007397592067718506,
+            "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": 0.02117458584090609,
+            "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": 0.007397592067718506,
+            "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": 0.007397613509845586,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13129456341266632,
+              -0.381972074508667,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13129456341266632,
+              -0.381972074508667,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13189755628764635,
+              -0.38295388494315974,
+              0.8078631240564929
+            ],
+            "closest_button": [
+              0.1312883496284485,
+              -0.3819731771945953,
+              0.7727664113044739
+            ],
+            "closest_ee_minus_button": [
+              0.000609206659197864,
+              -0.0009807077485644577,
+              0.03509671275201898
+            ],
+            "button_min_z_position": [
+              0.13127678632736206,
+              -0.38197097182273865,
+              0.7694112658500671
+            ],
+            "min_active_finger_to_button": 0.14552752037085664,
+            "closest_active_finger": [
+              -0.009504355490207672,
+              -0.3688889443874359,
+              0.8108643293380737
+            ],
+            "closest_active_finger_button": [
+              0.13129450380802155,
+              -0.38197252154350275,
+              0.7764730453491211
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14079885929822922,
+              0.013083577156066839,
+              0.03439128398895264
+            ],
+            "min_contact_pad_to_button": 0.02117458584090609,
+            "closest_contact_pad": [
+              0.13127678632736206,
+              -0.3839123354507911,
+              0.7904966682127819
+            ],
+            "closest_contact_pad_button": [
+              0.13127678632736206,
+              -0.38197097182273865,
+              0.7694112658500671
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019413636280524726,
+              0.021085402362714722
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c788b22ae8b7d34261510c94441f88af3de8252b5e5fecc22cd8f8fe1d0b2b0",
+    "visual_seed": 5253150975999065683,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9074d444d2bec96ed360b5d78c151b568198e6e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3472074731554451,
+              0.32915761347046835,
+              1.05025216729739
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+            "current_z": 1.05025216729739,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1936657790981139,
+            "gripper_z": 1.0487105918343127,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34172202167865,
+              0.3239823500909724,
+              1.0487105918343127
+            ],
+            "object_minus_gripper": [
+              0.005485451476795078,
+              0.00517526337949592,
+              0.001541575463077205
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+            "object_to_gripper_xy": 0.007541454034297685,
+            "object_to_gripper_z": 0.001541575463077205,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3472074731554451,
+              0.3045628990899164,
+              1.05025216729739
+            ],
+            "finger_b": [
+              0.33473447078070756,
+              0.32915761347046835,
+              1.05025216729739
+            ],
+            "finger_midpoint": [
+              0.34097097196807635,
+              0.3168602562801924,
+              1.05025216729739
+            ],
+            "object_minus_finger_midpoint": [
+              0.006236501187368737,
+              0.01229735719027597,
+              0.0
+            ],
+            "finger_gap": 0.027576725035818456,
+            "fingertip_max_gap": 0.09031175761904917,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013788362517909216,
+            "object_to_finger_midpoint_z": 0.0,
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+              0.13496315479278564,
+              -0.3843752760177131,
+              0.7907479701167233
+            ],
+            "closest_contact_pad_button": [
+              0.13496315479278564,
+              -0.38288307189941395,
+              0.7696776986122131
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014922041182991452,
+              0.02107027150451013
+            ]
+          },
+          "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": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "workflow_spec_digest": "f5a91d183f9e1e5692e3830cd4d4978aa340439f0adf1b015cef3a0d19cf2826",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6672472f733672d59f7b0ec38645867d781cbfdc4cd0646881cb7fb571a91c9d",
+    "visual_seed": 5462151726397489664,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057,
+      2540758795413753517
+    ],
+    "runtime_workflow_digest": "16083b5da8bfa5fb9fdc8c5f1543a62984ee4af94dd7c104af682f1d5a466a64"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39419e137fe0e1029948fdaa5571bda4a1798244
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00014/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.3308212490302844,
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+            "gripper_z": 1.048549026805877,
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+              0.3456214609994709,
+              0.3255378168740828,
+              1.048549026805877
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+              0.0052834321562016395,
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+            "object_to_gripper_z": 0.0016277730719911343,
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+              0.30619136865796126,
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+              0.31850630884412284,
+              1.0501767998778682
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+              0.012314940186161583,
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.32927908340322437,
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+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007890468188496218,
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+            "held_gripper_z_dist": 0.0015177394006415934,
+            "max_held_gripper_z_dist": 0.0016381951394730532,
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+            "held_object_xy_range": 0.08970523107375167,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_object_position": [
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+              0.33401780616390914,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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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+}
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bdc13f855fe191f254c35d66554f071176ce8f30
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..352f9af34146aa93f40796957052ddf3698e4abc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_hte_00016
+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 b from home. Shake the current contents of
+    beaker b once. Place beaker b on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00016
+  reproducibility:
+    enabled: true
+    layout_id: layout_00016
+    action_seed: 2891541627295583141
+    step_seeds:
+    - 1164515841808467485
+    - 5066845160497422571
+    - 1159376154734467498
+    - 6013251277256419500
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3508
+      - 0.3508
+      'y':
+      - 0.1592
+      - 0.1592
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3318
+      - 0.3318
+      'y':
+      - -0.0513
+      - -0.0513
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3199
+      - 0.3199
+      'y':
+      - 0.3061
+      - 0.3061
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2131
+      - 0.2131
+      'y':
+      - -0.3869
+      - -0.3869
+      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_b
+    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: 0.3
+      gripper_distances: 0.019
+      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
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - 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_s04_pslr_hte_00016
+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_s04_pslr_hte_00016/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e37c8eaa08c7cd6d8c2ebf8c0c13f18aaccb391
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3590306144220267,
+              -0.053454150936506496,
+              1.0472957196100803
+            ],
+            "current_z": 1.0472957196100803,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19070927180615949,
+            "gripper_z": 1.0486318731951225,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35429611377112114,
+              -0.05800638873275768,
+              1.0486318731951225
+            ],
+            "object_minus_gripper": [
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+              0.004552237796251184,
+              -0.0013361535850422435
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+            "object_to_gripper_xy": 0.006567980311103499,
+            "object_to_gripper_z": -0.0013361535850422435,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3590306144220267,
+              -0.07792748357721632,
+              1.0472957196100803
+            ],
+            "finger_b": [
+              0.3480008441189902,
+              -0.053454150936506496,
+              1.0472957196100803
+            ],
+            "finger_midpoint": [
+              0.35351572927050845,
+              -0.0656908172568614,
+              1.0472957196100803
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01223666632035491,
+              0.0
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+            "finger_gap": 0.02684399082626463,
+            "fingertip_max_gap": 0.0935938607202477,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013421995413132312,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472957196100803,
+            "object_top_z": 1.0933606895453574,
+            "finger_top_clearance": 0.04606496993527709,
+            "fingertip_min_top_clearance": 0.013819490980583127,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04929693036012385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8069201560144297,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.05728378643697868,
+              1.2391770863287532
+            ],
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+              -0.05304380486198056,
+              1.2377416836360402
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.0014354026927130281,
+            "max_held_gripper_z_dist": 0.0014383874268506514,
+            "held_gripper_z_max_dist": 0.15,
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+              1.2377416836360402
+            ],
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+              -0.05304380486198056,
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+            "held_grasp_finger_gap": 0.026893132726747093,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02499466583739804,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9993548378279522,
+              -0.0027307484513243714
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004055322249784727,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03237975272743321,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
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+              0.8470196988838997
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+              0.8084375599031817
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18527779787662632,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196988838997,
+            "min_z": 0.5730800627579278,
+            "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": 0.07576527942893564,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08856860378684815,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15320210639706952,
+            "release_required_pad_clearance": 0.05428430189342408,
+            "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": 3.587683690524491,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008247196674346924,
+            "max_z_decrease": 0.008247196674346924,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035017110085363026,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008247196674346924,
+            "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": 0.020902943702617152,
+            "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": 0.008247196674346924,
+            "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": 0.008247367824304899,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12251383066177368,
+              -0.4445640742778778,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12251383066177368,
+              -0.4445640742778778,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12099709364164268,
+              -0.4438389253609494,
+              0.8036055294036984
+            ],
+            "closest_button": [
+              0.12255749106407166,
+              -0.4445388913154602,
+              0.7686302065849304
+            ],
+            "closest_ee_minus_button": [
+              -0.0015603974224289718,
+              0.0006999659545108283,
+              0.03497532281876803
+            ],
+            "button_min_z_position": [
+              0.12256067991256714,
+              -0.44453901052474976,
+              0.7685616612434387
+            ],
+            "min_active_finger_to_button": 0.14691464317165265,
+            "closest_active_finger": [
+              -0.006597176194190979,
+              -0.5056797862052917,
+              0.8109310269355774
+            ],
+            "closest_active_finger_button": [
+              0.1225137785077095,
+              -0.4445643723011017,
+              0.7765918374061584
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12911095470190048,
+              -0.061115413904190063,
+              0.034339189529418945
+            ],
+            "min_contact_pad_to_button": 0.020902943702617152,
+            "closest_contact_pad": [
+              0.12256067991256714,
+              -0.44514380474354903,
+              0.7894558537233526
+            ],
+            "closest_contact_pad_button": [
+              0.12256067991256714,
+              -0.44453901052474976,
+              0.7685616612434387
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006047942187992761,
+              0.020894192479913865
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "139ee1a7434d8856fb9bb1542e1826fb2be43c82b021190658fd1666348deb0c",
+    "visual_seed": 2305505853478853430,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69c1e579c150a1f0b02199696345600989ddb162
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35707253426840896,
+              -0.051361902100276566,
+              1.0482483809029843
+            ],
+            "current_z": 1.0482483809029843,
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+            "lift_margin": 0.19166199270370832,
+            "gripper_z": 1.0497226607468104,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3526943400601702,
+              -0.05583006064528674,
+              1.0497226607468104
+            ],
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+              0.0043781942082387615,
+              0.004468158545010176,
+              -0.0014742798438260873
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+            "object_to_gripper_xy": 0.006255639480373121,
+            "object_to_gripper_z": -0.0014742798438260873,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.35707253426840896,
+              -0.07531894317583528,
+              1.0482483809029843
+            ],
+            "finger_b": [
+              0.34582215452181964,
+              -0.051361902100276566,
+              1.0482483809029843
+            ],
+            "finger_midpoint": [
+              0.35144734439511427,
+              -0.06334042263805592,
+              1.0482483809029843
+            ],
+            "object_minus_finger_midpoint": [
+              0.005625189873294689,
+              0.011978520537779355,
+              0.0
+            ],
+            "finger_gap": 0.026467165725450742,
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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_to_finger_line_xy": 0.010183402805593928,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05028032440423531,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9532415932403726,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35806292991123523,
+              -0.055416831510598036,
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+            "held_position": [
+              0.3627877967975175,
+              -0.05135539464027872,
+              1.2408470765927533
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0064239280299804025,
+            "max_held_gripper_dist": 0.00643073689815909,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001564357628450752,
+            "max_held_gripper_z_dist": 0.0015667998480679568,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0862906544153432,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
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+            "held_grasp_geometry_required": true,
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27324799232388725,
+              -0.38354303061143835,
+              0.8470189424069087
+            ],
+            "target_position": [
+              0.26748132911347927,
+              -0.38485327398813096,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005913640358395128,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18472497702881832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189424069087,
+            "min_z": 0.5730800627579278,
+            "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": 0.07534191208327362,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870062407174697,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15355137702147584,
+            "release_required_pad_clearance": 0.05350312035873485,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0151064354642934,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008210718631744385,
+            "max_z_decrease": 0.008210718631744385,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498935500439124,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008210718631744385,
+            "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": 0.020981368251803682,
+            "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": 0.008210718631744385,
+            "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": 0.00821083425758608,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12318125367164609,
+              -0.44111472368240356,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12318125367164609,
+              -0.44111472368240356,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12291967233734044,
+              -0.44160380018181977,
+              0.8035824684871595
+            ],
+            "closest_button": [
+              0.12321797758340831,
+              -0.44109126925468445,
+              0.7685981392860413
+            ],
+            "closest_ee_minus_button": [
+              -0.0002983052460678731,
+              -0.000512530927135324,
+              0.03498432920111827
+            ],
+            "button_min_z_position": [
+              0.12321797758340831,
+              -0.44109126925468445,
+              0.7685981392860413
+            ],
+            "min_active_finger_to_button": 0.14598095625798024,
+            "closest_active_finger": [
+              -0.017623141407966614,
+              -0.42375466227531433,
+              0.810990571975708
+            ],
+            "closest_active_finger_button": [
+              0.12318183481693265,
+              -0.44111353158950806,
+              0.7765948176383972
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14080497622489926,
+              0.017358869314193726,
+              0.03439575433731079
+            ],
+            "min_contact_pad_to_button": 0.020981368251803682,
+            "closest_contact_pad": [
+              0.12321797758340831,
+              -0.4429442393354188,
+              0.7894975248176233
+            ],
+            "closest_contact_pad_button": [
+              0.12321797758340831,
+              -0.44109126925468445,
+              0.7685981392860413
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001852970080734373,
+              0.020899385531581993
+            ]
+          },
+          "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": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a621771a4abe73c2b971a976f2c8cbf6162941f83c1351ab5323d447dbaae9ec",
+    "visual_seed": 5077693997769284717,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb9e7c429e2fc137a1b79b18634d52b1549654ef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
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+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008168865508456816,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1224296912550926,
+              -0.44037228822708135,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1224296912550926,
+              -0.44037228822708135,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1216896639120219,
+              -0.4385687660335909,
+              0.8036361475190826
+            ],
+            "closest_button": [
+              0.12244708836078641,
+              -0.4403499960899353,
+              0.7686400413513184
+            ],
+            "closest_ee_minus_button": [
+              -0.0007574244487645043,
+              0.0017812300563443961,
+              0.034996106167764274
+            ],
+            "button_min_z_position": [
+              0.12244708836078641,
+              -0.4403499960899353,
+              0.7686400413513184
+            ],
+            "min_active_finger_to_button": 0.14577850299592912,
+            "closest_active_finger": [
+              -0.004969507455825806,
+              -0.5023103356361389,
+              0.810541033744812
+            ],
+            "closest_active_finger_button": [
+              0.12243053317070006,
+              -0.44036915898323065,
+              0.7761332988739014
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12740004062652588,
+              -0.06194117665290827,
+              0.034407734870910645
+            ],
+            "min_contact_pad_to_button": 0.02092808677390612,
+            "closest_contact_pad": [
+              0.12244708836078641,
+              -0.4403499960899353,
+              0.7895681281252245
+            ],
+            "closest_contact_pad_button": [
+              0.12244708836078641,
+              -0.4403499960899353,
+              0.7686400413513184
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02092808677390612
+            ]
+          },
+          "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": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a25b26a935961d519e02a5bc36c059c7c92d3804793776411ace7f54aa8816a",
+    "visual_seed": 6617076081266865542,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74e0fa2c873f0bd2282fbf620f22fba475f5cb43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.355187338759949,
+              -0.04771854898282344,
+              1.0496756787271182
+            ],
+            "current_z": 1.0496756787271182,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.19308917131855252,
+            "gripper_z": 1.051100045270884,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35089552660667245,
+              -0.05218788438047482,
+              1.051100045270884
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+              0.004291812153276564,
+              0.004469335397651382,
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+            "object_to_gripper_xy": 0.006196338471687296,
+            "object_to_gripper_z": -0.001424366543765876,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.355187338759949,
+              -0.07150454747344583,
+              1.0496756787271182
+            ],
+            "finger_b": [
+              0.34379319824873866,
+              -0.04771854898282344,
+              1.0496756787271182
+            ],
+            "finger_midpoint": [
+              0.34949026850434384,
+              -0.059611548228134636,
+              1.0496756787271182
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056970702556051744,
+              0.011892999245311196,
+              0.0
+            ],
+            "finger_gap": 0.026374232921264177,
+            "fingertip_max_gap": 0.09371083821620432,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
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+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496756787271182,
+            "object_top_z": 1.095675793511271,
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+            "fingertip_min_top_clearance": 0.013800034435245866,
+            "object_projection_between_fingers": 0.8133605409444129,
+            "object_to_finger_line_xy": 0.010275976928340487,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049355419108102164,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.143698206235242,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3563926782940226,
+              -0.05173304948194625,
+              1.244467268960677
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+            "held_position": [
+              0.36108250215373183,
+              -0.047717314257885265,
+              1.2429506370988759
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0063577314687782,
+            "max_held_gripper_dist": 0.006358759824558211,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015166318618011765,
+            "max_held_gripper_z_dist": 0.001517299548369433,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08744745636028574,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.36108250215373183,
+              -0.07303062971094755,
+              1.2429506370988759
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+              0.3567693833908532,
+              -0.06030956334637435,
+              1.2429506370988759
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+            "held_grasp_object_position": [
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+              -0.047717314257885265,
+              1.2429506370988759
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+            "held_grasp_finger_gap": 0.02686473695494311,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024827100615035617,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9978733772144556,
+              0.0045159747787621995
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034856461291099864,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032354291693686456,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26948670447023837,
+              -0.3807932395687645,
+              0.8470196729368803
+            ],
+            "target_position": [
+              0.26409809772923887,
+              -0.381946022859566,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.005510534631476015,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18459053917552667,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196729368803,
+            "min_z": 0.5730800627579278,
+            "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": 0.07527195005551282,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513558643873477,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15354954363964238,
+            "release_required_pad_clearance": 0.05256779321936739,
+            "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": 0.20174110597420367,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008091986179351807,
+            "max_z_decrease": 0.008091986179351807,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506978510778226,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008091986179351807,
+            "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": 0.02110402152202304,
+            "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": 0.008091986179351807,
+            "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": 0.008092012129171319,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11979802697896956,
+              -0.43820747733116144,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11979802697896956,
+              -0.43820747733116144,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11911340279055241,
+              -0.43932911305132194,
+              0.8037612739308067
+            ],
+            "closest_button": [
+              0.11980453878641126,
+              -0.43818804621696467,
+              0.7687168717384338
+            ],
+            "closest_ee_minus_button": [
+              -0.0006911359958588492,
+              -0.0011410668343572739,
+              0.035044402192372814
+            ],
+            "button_min_z_position": [
+              0.11980453878641126,
+              -0.43818804621696467,
+              0.7687168717384338
+            ],
+            "min_active_finger_to_button": 0.14636175488444358,
+            "closest_active_finger": [
+              -0.021615341305732727,
+              -0.4228741228580475,
+              0.8107121586799622
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+            "closest_active_finger_button": [
+              0.11979918181896208,
+              -0.4382058382034302,
+              0.7762355804443359
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14141452312469482,
+              0.01533171534538269,
+              0.03447657823562622
+            ],
+            "min_contact_pad_to_button": 0.02110402152202304,
+            "closest_contact_pad": [
+              0.11980453878641126,
+              -0.4405458047851667,
+              0.7896887743449233
+            ],
+            "closest_contact_pad_button": [
+              0.11980453878641126,
+              -0.43818804621696467,
+              0.7687168717384338
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023577585682020286,
+              0.020971902606489512
+            ]
+          },
+          "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": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c8f0123e7c4d6fc2a54c6faddce545074e726ae04b80432c57049ff51d99f145",
+    "visual_seed": 7684551717612548859,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d6b9e6aac9d865d9b15d3630a32ceae31d99333
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              -0.05280898833452743,
+              1.0495588443599086
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+            "lift_margin": 0.19297233695134308,
+            "gripper_z": 1.0511242585418417,
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+            "gripper_position": [
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+              -0.05722646688366391,
+              1.0511242585418417
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+              0.004267512772639814,
+              0.004417478549136482,
+              -0.0015654141819330114
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+            "object_to_gripper_xy": 0.00614213171437449,
+            "object_to_gripper_z": -0.0015654141819330114,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.35296037978113204,
+              -0.07665136717793251,
+              1.0495588443599086
+            ],
+            "finger_b": [
+              0.3417370208313234,
+              -0.05280898833452743,
+              1.0495588443599086
+            ],
+            "finger_midpoint": [
+              0.3473487003062277,
+              -0.06473017775622997,
+              1.0495588443599086
+            ],
+            "object_minus_finger_midpoint": [
+              0.005611679474904319,
+              0.01192118942170254,
+              0.0
+            ],
+            "finger_gap": 0.026351903442231647,
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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_to_finger_line_xy": 0.010154544492904266,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04960294647596329,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2812500925366574,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_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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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a86015e89a67d803f486e1d8f929e267b98f0599600c5efcfa3aadf3349f50b8",
+    "visual_seed": 2159877412499642908,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e21fc1f68e4e17523aa14747bc95709162a8bcbf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              -0.052890926228417436,
+              1.0462161844558115
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+              0.004423485660187666,
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+              -0.06482094102027064,
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+              0.011930014791853204,
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+              1.0
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+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+              "source_missing": false,
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.05657902097103873,
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+            "max_held_gripper_z_dist": 0.0017802438253267105,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+      "physical_semantics": {
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15562531169300706,
+            "release_required_pad_clearance": 0.05320324121813265,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4276307368144932,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.008256256580352783,
+            "max_z_decrease": 0.008256256580352783,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505625321034209,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008256256580352783,
+            "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": 0.021138782334298473,
+            "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": 0.008256256580352783,
+            "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": 0.008256334924439347,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12479525059461594,
+              -0.44048452377319336,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12479525059461594,
+              -0.44048452377319336,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1232953031343807,
+              -0.4424167526394637,
+              0.8035886256716279
+            ],
+            "closest_button": [
+              0.12481825053691863,
+              -0.4404617846012116,
+              0.7686200737953186
+            ],
+            "closest_ee_minus_button": [
+              -0.0015229474025379303,
+              -0.0019549680382520696,
+              0.03496855187630932
+            ],
+            "button_min_z_position": [
+              0.12482081353664398,
+              -0.44045922160148626,
+              0.7685526013374329
+            ],
+            "min_active_finger_to_button": 0.14704443617394564,
+            "closest_active_finger": [
+              -0.017350703477859497,
+              -0.4252070486545563,
+              0.8109900951385498
+            ],
+            "closest_active_finger_button": [
+              0.12479514628648758,
+              -0.44048488140106207,
+              0.7765922546386719
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14214584976434708,
+              0.015277832746505793,
+              0.03439784049987793
+            ],
+            "min_contact_pad_to_button": 0.021138782334298473,
+            "closest_contact_pad": [
+              0.12482081353664398,
+              -0.4437046167917641,
+              0.789440768529309
+            ],
+            "closest_contact_pad_button": [
+              0.12482081353664398,
+              -0.44045922160148626,
+              0.7685526013374329
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0032453951902778333,
+              0.02088816719187614
+            ]
+          },
+          "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": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4535802e578f6c3b9baf10add2c509a89ee0c6484ec3a7049723a8e87b74ff4f",
+    "visual_seed": 853591380951858350,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..952da4199e68b7379e3ca115b2686835d0cb2e1a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_105_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3549370560513623,
+              -0.04871850581476175,
+              1.0494911683352464
+            ],
+            "current_z": 1.0494911683352464,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.19290472053132546,
+            "gripper_z": 1.0509502217057423,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3506352372529973,
+              -0.053178879990451094,
+              1.0509502217057423
+            ],
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+              0.004301818798364998,
+              0.004460374175689341,
+              -0.0014590533704958997
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+            "object_to_gripper_xy": 0.006196820375089377,
+            "object_to_gripper_z": -0.0014590533704958997,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3549370560513623,
+              -0.07255644106626831,
+              1.0494911683352464
+            ],
+            "finger_b": [
+              0.34361705229639805,
+              -0.04871850581476175,
+              1.0494911683352464
+            ],
+            "finger_midpoint": [
+              0.34927705417388016,
+              -0.06063747344051503,
+              1.0494911683352464
+            ],
+            "object_minus_finger_midpoint": [
+              0.005660001877482113,
+              0.011918967625753278,
+              0.0
+            ],
+            "finger_gap": 0.026389195555518986,
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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": 1.0957811233347468,
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+            "object_to_finger_line_xy": 0.01022560600568265,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04980149315956696,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5018617087625996,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35593211865574853,
+              -0.05227544756002238,
+              1.2421660644050174
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+            "held_position": [
+              0.3605807633056568,
+              -0.04820738111847556,
+              1.2406213331801617
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006367515701669261,
+            "max_held_gripper_dist": 0.006368253435354272,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015447312248557665,
+            "max_held_gripper_z_dist": 0.0015467896125771485,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08714099284681381,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3605807633056568,
+              -0.07335013599528285,
+              1.2406213331801617
+            ],
+            "held_grasp_finger_b": [
+              0.35178199722041703,
+              -0.04820738111847556,
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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"
+              ],
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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": [],
+            "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26942184557130594,
+              -0.3884688519666506,
+              0.8470196087818822
+            ],
+            "target_position": [
+              0.263725962050859,
+              -0.3900743815903538,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005917838663827135,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18477096570918783,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196087818822,
+            "min_z": 0.5730800627579278,
+            "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": 0.07556551797113653,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08658910351309022,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15293727626208897,
+            "release_required_pad_clearance": 0.053294551756545114,
+            "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": 1.6076250873751918,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008050501346588135,
+            "max_z_decrease": 0.008050501346588135,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512949908482824,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008050501346588135,
+            "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": 0.021044406397811133,
+            "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": 0.008050501346588135,
+            "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": 0.008050509890579583,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11942588537931441,
+              -0.4463358521461486,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11942588537931441,
+              -0.4463358521461486,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11947358460049132,
+              -0.4446948067609067,
+              0.8082813145295322
+            ],
+            "closest_button": [
+              0.11942810565233229,
+              -0.44632828235626215,
+              0.7731898427009583
+            ],
+            "closest_ee_minus_button": [
+              4.547894815902509e-05,
+              0.001633475595355427,
+              0.03509147182857397
+            ],
+            "button_min_z_position": [
+              0.11941805481910704,
+              -0.44632712006568903,
+              0.7687583565711975
+            ],
+            "min_active_finger_to_button": 0.14549633564349482,
+            "closest_active_finger": [
+              -0.007628254592418671,
+              -0.5083044171333313,
+              0.8110185861587524
+            ],
+            "closest_active_finger_button": [
+              0.11942772567272185,
+              -0.44633293151855463,
+              0.7765875458717346
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12705598026514053,
+              -0.06197148561477667,
+              0.03443104028701782
+            ],
+            "min_contact_pad_to_button": 0.021044406397811133,
+            "closest_contact_pad": [
+              0.11941805481910704,
+              -0.44632712006568903,
+              0.7898027629690086
+            ],
+            "closest_contact_pad_button": [
+              0.11941805481910704,
+              -0.44632712006568903,
+              0.7687583565711975
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021044406397811133
+            ]
+          },
+          "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": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d713f1db704c0c473e79c6a25c6877e6f12c3eb5bf24e36e2ee898dc255c1715",
+    "visual_seed": 603548273905845057,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cfcf4f61b7bf197f9f013a52bc7b7c3e6b73c2f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3517666866744477,
+              -0.05091330501197667,
+              1.0485446867530765
+            ],
+            "current_z": 1.0485446867530765,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19195823894915576,
+            "gripper_z": 1.0500949056917723,
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+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11987479776144026,
+              -0.44556385278701777,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11870134468989632,
+              -0.4472853286325142,
+              0.8037989895360529
+            ],
+            "closest_button": [
+              0.11987831443548201,
+              -0.4455466568470001,
+              0.7687326073646545
+            ],
+            "closest_ee_minus_button": [
+              -0.0011769697455856903,
+              -0.0017386717855140676,
+              0.03506638217139835
+            ],
+            "button_min_z_position": [
+              0.11987831443548201,
+              -0.4455466568470001,
+              0.7687326073646545
+            ],
+            "min_active_finger_to_button": 0.14676143915155754,
+            "closest_active_finger": [
+              -0.021932348608970642,
+              -0.429973304271698,
+              0.8109569549560547
+            ],
+            "closest_active_finger_button": [
+              0.11987507343292235,
+              -0.4455634355545044,
+              0.776511013507843
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141807422041893,
+              0.015590131282806396,
+              0.03444594144821167
+            ],
+            "min_contact_pad_to_button": 0.021200252863786604,
+            "closest_contact_pad": [
+              0.11987831443548201,
+              -0.4485761226022061,
+              0.789715292100563
+            ],
+            "closest_contact_pad_button": [
+              0.11987831443548201,
+              -0.4455466568470001,
+              0.7687326073646545
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030294657552059623,
+              0.020982684735908474
+            ]
+          },
+          "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": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6ca8bbd9cf6083701a076bfea5dbcb4aa3caef7f482bf039d66ae96a0a86e64e",
+    "visual_seed": 3664084837283146084,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d33f31452f89e38bfdbb4b2043a36b604e3790b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_107_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3562742475397761,
+              -0.05278715431613455,
+              1.0495406818329545
+            ],
+            "current_z": 1.0495406818329545,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1929541744243889,
+            "gripper_z": 1.0509912250629283,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3519983131274389,
+              -0.057212683130067846,
+              1.0509912250629283
+            ],
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+              0.004275934412337201,
+              0.004425528813933294,
+              -0.001450543229973844
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+            "object_to_gripper_xy": 0.006153772857488592,
+            "object_to_gripper_z": -0.001450543229973844,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3562742475397761,
+              -0.0766291484593617,
+              1.0495406818329545
+            ],
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+              0.3450308214437162,
+              -0.05278715431613455,
+              1.0495406818329545
+            ],
+            "finger_midpoint": [
+              0.35065253449174616,
+              -0.06470815138774813,
+              1.0495406818329545
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056217130480299415,
+              0.011920997071613579,
+              0.0
+            ],
+            "finger_gap": 0.02636010840461848,
+            "fingertip_max_gap": 0.09440094336876184,
+            "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": 1.0495406818329545,
+            "object_top_z": 1.0958208192995618,
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+            "fingertip_min_top_clearance": 0.013884041239982192,
+            "object_projection_between_fingers": 0.8180705714846861,
+            "object_to_finger_line_xy": 0.010169370133739667,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04970047168438092,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3452140836384907,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3573934731973782,
+              -0.056754662645636694,
+              1.2423417367006246
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+            "held_position": [
+              0.3620272148191184,
+              -0.05273968417223462,
+              1.2408005103100306
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00632194529761161,
+            "max_held_gripper_dist": 0.006323245004267701,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015412263905940637,
+            "max_held_gripper_z_dist": 0.0015416163064996269,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08758862405255557,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3620272148191184,
+              -0.07794650468728634,
+              1.2408005103100306
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+              0.35342054936017564,
+              -0.05273968417223462,
+              1.2408005103100306
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+            "held_grasp_midpoint": [
+              0.357723882089647,
+              -0.06534309442976048,
+              1.2408005103100306
+            ],
+            "held_grasp_object_position": [
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+              -0.05273968417223462,
+              1.2408005103100306
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+            "held_grasp_finger_gap": 0.026635662011675082,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024700933726652878,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.054416513931630175,
+              -0.9985106389151704,
+              0.0039175227819504554
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036114667398466503,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032381413371632896,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26922202403790696,
+              -0.3809097869203717,
+              0.8470196484240401
+            ],
+            "target_position": [
+              0.2639303291430797,
+              -0.3821123048246698,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005426608901523916,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185308051872122,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196484240401,
+            "min_z": 0.5730800627579278,
+            "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": 0.07517589339888456,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853549880348257,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15452122682743882,
+            "release_required_pad_clearance": 0.052677494017412854,
+            "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": 0.4111683494839416,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008096754550933838,
+            "max_z_decrease": 0.008096754550933838,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350970559768168,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008096754550933838,
+            "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": 0.021088028221111478,
+            "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": 0.008096754550933838,
+            "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": 0.008096778322242459,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11963025480508804,
+              -0.43837377429008484,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11963025480508804,
+              -0.43837377429008484,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11754038581675019,
+              -0.4395642233630936,
+              0.8037254490513761
+            ],
+            "closest_button": [
+              0.11964094638824463,
+              -0.43835732340812683,
+              0.7687121033668518
+            ],
+            "closest_ee_minus_button": [
+              -0.0021005605714944364,
+              -0.0012068999549667558,
+              0.0350133456845243
+            ],
+            "button_min_z_position": [
+              0.11964094638824463,
+              -0.43835732340812683,
+              0.7687121033668518
+            ],
+            "min_active_finger_to_button": 0.1477218733764119,
+            "closest_active_finger": [
+              -0.02320423722267151,
+              -0.423162579536438,
+              0.8112853169441223
+            ],
+            "closest_active_finger_button": [
+              0.11962939053773881,
+              -0.4383740425109863,
+              0.7768046259880066
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1428336277604103,
+              0.015211462974548284,
+              0.03448069095611572
+            ],
+            "min_contact_pad_to_button": 0.021088028221111478,
+            "closest_contact_pad": [
+              0.11964094638824463,
+              -0.4407756321056497,
+              0.7896610106724341
+            ],
+            "closest_contact_pad_button": [
+              0.11964094638824463,
+              -0.43835732340812683,
+              0.7687121033668518
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002418308697522853,
+              0.0209489073055823
+            ]
+          },
+          "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": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "638077d7a21ea617a684400a55f3f8030fd2c12a75191fae1b7d8759fe5c8745",
+    "visual_seed": 6574842023991199678,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..35830671df5b2bb3544544606007c92635c05950
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_108_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.359148402572741,
+              -0.05134423671138457,
+              1.049059794344836
+            ],
+            "current_z": 1.049059794344836,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19247328693627053,
+            "gripper_z": 1.0509954125127994,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3545271204186846,
+              -0.055728919183564,
+              1.0509954125127994
+            ],
+            "object_minus_gripper": [
+              0.004621282154056383,
+              0.004384682472179428,
+              -0.0019356181679632822
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+            "object_to_gripper_xy": 0.006370375901721775,
+            "object_to_gripper_z": -0.0019356181679632822,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.359148402572741,
+              -0.07573125848274882,
+              1.049059794344836
+            ],
+            "finger_b": [
+              0.3483553631525362,
+              -0.05134423671138457,
+              1.049059794344836
+            ],
+            "finger_midpoint": [
+              0.3537518828626386,
+              -0.0635377475970667,
+              1.049059794344836
+            ],
+            "object_minus_finger_midpoint": [
+              0.00539651971010241,
+              0.012193510885682123,
+              0.0
+            ],
+            "finger_gap": 0.026668643212639995,
+            "fingertip_max_gap": 0.0964335236328914,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013334321606319994,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049059794344836,
+            "object_top_z": 1.0957778666449534,
+            "finger_top_clearance": 0.046718072300117264,
+            "fingertip_min_top_clearance": 0.014015421690035178,
+            "object_projection_between_fingers": 0.8362106406686615,
+            "object_to_finger_line_xy": 0.009869646731595813,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0507167618164457,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.692478325556372,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "47a1c0af2f2b193f84e2bd183ac4eb34479742a0a46945a2b94736ee75f05401",
+    "visual_seed": 6767433355906203907,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
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+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3f8e264b4a94c8c5b6901b92802bbcef2d8a334
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_109_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_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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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+            "held_grasp_z_skew_max": 0.08,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
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+              ],
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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": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+      "physical_semantics": {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15269334968066886,
+            "release_required_pad_clearance": 0.05402141289578896,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 3.0532431580408206,
+            "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
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.008114159107208252,
+            "max_z_decrease": 0.008114159107208252,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035039246710890974,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008114159107208252,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020958433728185635,
+            "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": 0.008114159107208252,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008114198081732627,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12402437627315521,
+              -0.4425148963928222,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12402437627315521,
+              -0.4425148963928222,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12373341406323979,
+              -0.4417380745635567,
+              0.8037244839300579
+            ],
+            "closest_button": [
+              0.12403744459152222,
+              -0.4424934089183807,
+              0.7686946988105774
+            ],
+            "closest_ee_minus_button": [
+              -0.0003040305282824285,
+              0.0007553343548239999,
+              0.03502978511948052
+            ],
+            "button_min_z_position": [
+              0.12403744459152222,
+              -0.4424934089183807,
+              0.7686946988105774
+            ],
+            "min_active_finger_to_button": 0.14584298405384818,
+            "closest_active_finger": [
+              -0.002308681607246399,
+              -0.5067324638366699,
+              0.8108670711517334
+            ],
+            "closest_active_finger_button": [
+              0.12402582913637161,
+              -0.44251239299774164,
+              0.7764352560043335
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.126334510743618,
+              -0.06422007083892828,
+              0.0344318151473999
+            ],
+            "min_contact_pad_to_button": 0.020958433728185635,
+            "closest_contact_pad": [
+              0.12403744459152222,
+              -0.442725906162452,
+              0.7896518429235105
+            ],
+            "closest_contact_pad_button": [
+              0.12403744459152222,
+              -0.4424934089183807,
+              0.7686946988105774
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002324972440713169,
+              0.020957144112933146
+            ]
+          },
+          "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": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a0a82b5c8e57105bacd6c0876409a3000676f2efdd4ed3407819f5758b99b210",
+    "visual_seed": 1039556173702639017,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb1c07663e8cea8994b07efbdf641ce304eb7efc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3551304005106617,
+              -0.047338481282752816,
+              1.0465425027670214
+            ],
+            "current_z": 1.0465425027670214,
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+            "lift_margin": 0.1899558761491662,
+            "gripper_z": 1.0480418416724104,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3507166782031176,
+              -0.05183852635508791,
+              1.0480418416724104
+            ],
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+              0.00441372230754411,
+              0.004500045072335097,
+              -0.0014993389053890027
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+            "object_to_gripper_xy": 0.006303280912442337,
+            "object_to_gripper_z": -0.0014993389053890027,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3551304005106617,
+              -0.07131260274281906,
+              1.0465425027670214
+            ],
+            "finger_b": [
+              0.34381975949065513,
+              -0.047338481282752816,
+              1.0465425027670214
+            ],
+            "finger_midpoint": [
+              0.3494750800006584,
+              -0.059325542012785934,
+              1.0465425027670214
+            ],
+            "object_minus_finger_midpoint": [
+              0.005655320510003281,
+              0.011987060730033118,
+              0.0
+            ],
+            "finger_gap": 0.026508283612211934,
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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": 0.8179413907636579,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049780552904757316,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3895994300276735,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.051582954500548325,
+              1.2389779786910924
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+            "held_position": [
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+              -0.04751530088007395,
+              1.2373746358589273
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006473489222341531,
+            "max_held_gripper_dist": 0.006483196186959641,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0016033428321651222,
+            "max_held_gripper_z_dist": 0.0016035262557694274,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08753632223255337,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3609199834690736,
+              -0.07285986429021203,
+              1.2373746358589273
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+              1.2373746358589273
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+              0.35661504361750956,
+              -0.06013543003466467,
+              1.2373746358589273
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+            "held_grasp_object_position": [
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+              -0.04751530088007395,
+              1.2373746358589273
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+            "held_grasp_finger_gap": 0.026865869369840346,
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+              "held_object": "beaker_b",
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+                "beaker_b"
+              ],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2687631139010921,
+              -0.38603430422742574,
+              0.847019596982058
+            ],
+            "target_position": [
+              0.2622877132939675,
+              -0.38782319687769334,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006717957274122172,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1884937745658843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019596982058,
+            "min_z": 0.5730800627579278,
+            "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": 0.07549462677905436,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08695513558662014,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1568552697644414,
+            "release_required_pad_clearance": 0.053477567793310074,
+            "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": 1.9671488463081936,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008064448833465576,
+            "max_z_decrease": 0.008064448833465576,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509503047516741,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008064448833465576,
+            "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": 0.02111143721065683,
+            "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": 0.008064448833465576,
+            "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": 0.00806446063288836,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11798764020204541,
+              -0.44408464431762695,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11798764020204541,
+              -0.44408464431762695,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11775165003047025,
+              -0.44517428091943434,
+              0.8074405051806514
+            ],
+            "closest_button": [
+              0.117977038025856,
+              -0.444078654050827,
+              0.7723633050918579
+            ],
+            "closest_ee_minus_button": [
+              -0.0002253879953857535,
+              -0.0010956268686073134,
+              0.03507720008879345
+            ],
+            "button_min_z_position": [
+              0.11798363924026486,
+              -0.4440714418888092,
+              0.7687444090843201
+            ],
+            "min_active_finger_to_button": 0.14632620036893043,
+            "closest_active_finger": [
+              -0.023587554693222046,
+              -0.43092721700668335,
+              0.8111138939857483
+            ],
+            "closest_active_finger_button": [
+              0.11799002438783644,
+              -0.44408196210861206,
+              0.7765581607818604
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1415775790810585,
+              0.013154745101928711,
+              0.03455573320388794
+            ],
+            "min_contact_pad_to_button": 0.02111143721065683,
+            "closest_contact_pad": [
+              0.11798363924026486,
+              -0.44608097355833365,
+              0.7897599881524467
+            ],
+            "closest_contact_pad_button": [
+              0.11798363924026486,
+              -0.4440714418888092,
+              0.7687444090843201
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020095316695244447,
+              0.021015579068126677
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b5fe5b0f4ee0c4dc5130a1567acd0868f69c1885e9e502414d4c7e00b92fbf85",
+    "visual_seed": 5422154797783803434,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..505d399ea4784e3fe8116dd93e69f55d52205ad8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_110_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35772161377107325,
+              -0.04645010287359089,
+              1.0496657543434582
+            ],
+            "current_z": 1.0496657543434582,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.19307942574882697,
+            "gripper_z": 1.0514363718219684,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3530075938263488,
+              -0.05110190976655382,
+              1.0514363718219684
+            ],
+            "object_minus_gripper": [
+              0.004714019944724479,
+              0.004651806892962934,
+              -0.0017706174785101503
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+              0.12191733717918395,
+              -0.44495031237602234,
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+              -0.001729942645450136,
+              -0.0007856703173710344,
+              0.03508730659424397
+            ],
+            "button_min_z_position": [
+              0.12192346155643462,
+              -0.4449445903301239,
+              0.7687525749206543
+            ],
+            "min_active_finger_to_button": 0.14763663801200216,
+            "closest_active_finger": [
+              -0.020607061684131622,
+              -0.4278014898300171,
+              0.8109129667282104
+            ],
+            "closest_active_finger_button": [
+              0.12192898988723755,
+              -0.44495677947998047,
+              0.7764782905578613
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14253605157136917,
+              0.01715528964996338,
+              0.03443467617034912
+            ],
+            "min_contact_pad_to_button": 0.021097881868795458,
+            "closest_contact_pad": [
+              0.12192346155643462,
+              -0.447044298811077,
+              0.7897457129339353
+            ],
+            "closest_contact_pad_button": [
+              0.12192346155643462,
+              -0.4449445903301239,
+              0.7687525749206543
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020997084809530886,
+              0.020993138013280954
+            ]
+          },
+          "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": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "885128db1ca80c2386e2bf7b25367ae955e11ecd074150cd1677713cef38615a",
+    "visual_seed": 7432941335220117954,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcbe90a5223b487c9992ae69d4001f81dbce0556
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_111_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              -0.04478189411345671,
+              1.0475347916896052
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+            "gripper_z": 1.0494466067873283,
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+              0.3549636811237298,
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+              0.004641110054496855,
+              0.004396677160476516,
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+            "object_to_gripper_z": -0.0019118150977230908,
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+              -0.06918903419923914,
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+              1.0475347916896052
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+              -0.05698546415634792,
+              1.0475347916896052
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+              0.012203570042891208,
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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": 0.05018015738561034,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0066741014073539865,
+            "max_held_gripper_dist": 0.00667706754855306,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0019963373957361252,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              1.238178002796285
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+              -0.05561768399105384,
+              1.238178002796285
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+            "held_grasp_object_position": [
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+              -0.043123938515154,
+              1.238178002796285
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+            "held_grasp_finger_gap": 0.026689959144788465,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025134043132602615,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.0007103303990633192
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+            "held_grasp_object_to_finger_line_xy": 0.004888728966557847,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
+                {
+                  "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27570815375247026,
+              -0.3892663956291683,
+              0.8470197550777646
+            ],
+            "target_position": [
+              0.27020526623680047,
+              -0.39061042861321504,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005664644355325412,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18505643977004257,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197550777646,
+            "min_z": 0.5730800627579278,
+            "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": 0.07528454251010323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08852435983354455,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15390989576663808,
+            "release_required_pad_clearance": 0.05426217991677228,
+            "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": 3.542892700425073,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008244335651397705,
+            "max_z_decrease": 0.008244335651397705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504390962566451,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008244335651397705,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020897284258544757,
+            "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": 0.008244335651397705,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008244388678095274,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12590518593788144,
+              -0.44687187671661377,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12590518593788144,
+              -0.44687187671661377,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12469780927682689,
+              -0.4453402018834936,
+              0.8035541392370297
+            ],
+            "closest_button": [
+              0.12592802941799158,
+              -0.4468531012535095,
+              0.7685645222663879
+            ],
+            "closest_ee_minus_button": [
+              -0.0012302201411646951,
+              0.0015128993700159188,
+              0.034989616970641735
+            ],
+            "button_min_z_position": [
+              0.12592802941799158,
+              -0.4468531012535095,
+              0.7685645222663879
+            ],
+            "min_active_finger_to_button": 0.1462930348867725,
+            "closest_active_finger": [
+              -0.0024915337562561035,
+              -0.5079942345619202,
+              0.810586154460907
+            ],
+            "closest_active_finger_button": [
+              0.12590573728084561,
+              -0.44687017798423767,
+              0.7762402296066284
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12839727103710172,
+              -0.061124056577682495,
+              0.034345924854278564
+            ],
+            "min_contact_pad_to_button": 0.020897284258544757,
+            "closest_contact_pad": [
+              0.12592802941799158,
+              -0.4468531012535095,
+              0.7894618065249327
+            ],
+            "closest_contact_pad_button": [
+              0.12592802941799158,
+              -0.4468531012535095,
+              0.7685645222663879
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020897284258544757
+            ]
+          },
+          "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": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "38952f4e3a5bf7df90ed9d560a27fc0378d5ceb86ff6175eea47b672ebc68f2c",
+    "visual_seed": 6038429498715817707,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..792e87b1d1bf223852ae717199e5294dea232f3c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3509698559205145,
+              -0.04967495580104224,
+              1.0460846108672384
+            ],
+            "current_z": 1.0460846108672384,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18949816306331757,
+            "gripper_z": 1.047696308369131,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3465799823016048,
+              -0.05416700561369332,
+              1.047696308369131
+            ],
+            "object_minus_gripper": [
+              0.00438987361890969,
+              0.004492049812651083,
+              -0.001611697501892717
+            ],
+            "object_to_gripper_xy": 0.006280883847782722,
+            "object_to_gripper_z": -0.001611697501892717,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3509698559205145,
+              -0.07361181279570456,
+              1.0460846108672384
+            ],
+            "finger_b": [
+              0.3396497183698803,
+              -0.04967495580104224,
+              1.0460846108672384
+            ],
+            "finger_midpoint": [
+              0.3453097871451974,
+              -0.0616433842983734,
+              1.0460846108672384
+            ],
+            "object_minus_finger_midpoint": [
+              0.005660068775317106,
+              0.011968428497331159,
+              0.0
+            ],
+            "finger_gap": 0.02647864492280889,
+            "fingertip_max_gap": 0.09513572505303922,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013239322461404445,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460846108672384,
+            "object_top_z": 1.092504803653085,
+            "finger_top_clearance": 0.04642019278584675,
+            "fingertip_min_top_clearance": 0.013926057835754041,
+            "object_projection_between_fingers": 0.8172270605684274,
+            "object_to_finger_line_xy": 0.010233473597284586,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05006786252651961,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.79179480511537,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+        },
+        "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa1ace780418f8edb7e331d821225560b1a7dd09bd40a6d5567ca37b40d9dd54",
+    "visual_seed": 1066130927059600295,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..781d3e804b38cf6934e131ad8828d32cfd3893c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              -0.0513676425079218,
+              1.0477126092671538
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+              0.004621482534811365,
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+              1.0477126092671538
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+              1.0477126092671538
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+              -0.06352441139980208,
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+              0.012156768891880283,
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+              1.0
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+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2397966934682496
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+          "passed": true,
+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15142256578684804,
+            "release_required_pad_clearance": 0.05373834075640106,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.480028396118294,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008208394050598145,
+            "max_z_decrease": 0.008208394050598145,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035025217673949546,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008208394050598145,
+            "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": 0.021106252150837588,
+            "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": 0.008208394050598145,
+            "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": 0.008208467016611992,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12128448486328122,
+              -0.4386005699634552,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12128448486328122,
+              -0.4386005699634552,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12071732194976559,
+              -0.44027989847166343,
+              0.8036498251943195
+            ],
+            "closest_button": [
+              0.12130829691886899,
+              -0.43857914209365845,
+              0.768670916557312
+            ],
+            "closest_ee_minus_button": [
+              -0.0005909749691034027,
+              -0.0017007563780049861,
+              0.03497890863700748
+            ],
+            "button_min_z_position": [
+              0.12130993604660031,
+              -0.4385771155357361,
+              0.7686004638671875
+            ],
+            "min_active_finger_to_button": 0.14624796623747804,
+            "closest_active_finger": [
+              -0.020239457488059998,
+              -0.42564642429351807,
+              0.8111563920974731
+            ],
+            "closest_active_finger_button": [
+              0.12128650397062299,
+              -0.43859800696372986,
+              0.776643693447113
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141525961458683,
+              0.012951582670211792,
+              0.03451269865036011
+            ],
+            "min_contact_pad_to_button": 0.021106252150837588,
+            "closest_contact_pad": [
+              0.12130993604660031,
+              -0.4413399902985792,
+              0.7895251001340281
+            ],
+            "closest_contact_pad_button": [
+              0.12130993604660031,
+              -0.4385771155357361,
+              0.7686004638671875
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027628747628430927,
+              0.0209246362668406
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7fdb8716a5b64771f6a68799ee23e570125c53e50a60035596d93e3774f720c",
+    "visual_seed": 4874304438508314962,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb1af06cda787b54b389a6f7a8702a63f8682cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3509480248705437,
+              -0.05069983970044857,
+              1.0465902503637672
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+            "current_z": 1.0465902503637672,
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+            "lift_margin": 0.1900038025598464,
+            "gripper_z": 1.0501177406423048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3461633769714595,
+              -0.055267981448419046,
+              1.0501177406423048
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+              0.004784647899084227,
+              0.004568141747970475,
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+            "object_to_gripper_xy": 0.006615192706774449,
+            "object_to_gripper_z": -0.003527490278537604,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3509480248705437,
+              -0.07518962924660348,
+              1.0465902503637672
+            ],
+            "finger_b": [
+              0.33988397497980605,
+              -0.05069983970044857,
+              1.0465902503637672
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+            "finger_midpoint": [
+              0.3454159999251749,
+              -0.06294473447352603,
+              1.0465902503637672
+            ],
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+              0.0055320249453688075,
+              0.012244894773077455,
+              0.0
+            ],
+            "finger_gap": 0.026873090480994007,
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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_to_finger_line_xy": 0.010082809550466745,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04986462461722298,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5426972119947493,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35086179726088484,
+              -0.05354142446909119,
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+            "held_position": [
+              0.35580201632024483,
+              -0.049187242974987,
+              1.2375000109966348
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007501328337127116,
+            "max_held_gripper_dist": 0.0075039209602236825,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035923900099130712,
+            "max_held_gripper_z_dist": 0.003595463037976643,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08725552522208035,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.35580201632024483,
+              -0.07436010887901233,
+              1.2375000109966348
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+              -0.061773675926999665,
+              1.2375000109966348
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+            "held_grasp_object_position": [
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+              -0.049187242974987,
+              1.2375000109966348
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+            "held_grasp_finger_gap": 0.02693666717197117,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025287667025157202,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.012212638157920902,
+              -0.9999093616685817,
+              -0.005667443581838905
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "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",
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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",
+                "groundplane",
+                "link0",
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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": [
+                {
+                  "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2754456970634533,
+              -0.3886584435553332,
+              0.8470190321921149
+            ],
+            "target_position": [
+              0.2689814597952935,
+              -0.3912206560445868,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00695350963896314,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18735846651113222,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190321921149,
+            "min_z": 0.5730800627579278,
+            "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": 0.07563160930719927,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08948515525109264,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15556963414574118,
+            "release_required_pad_clearance": 0.054742577625546324,
+            "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": 4.532999173761413,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008151113986968994,
+            "max_z_decrease": 0.008151113986968994,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507255476217417,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008151113986968994,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020915872220490295,
+            "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": 0.008151113986968994,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008151184686081562,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12468138337135314,
+              -0.4474821090698242,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12468138337135314,
+              -0.4474821090698242,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12559738433203627,
+              -0.44587010007960953,
+              0.8036829741245706
+            ],
+            "closest_button": [
+              0.12470534443855283,
+              -0.44745805859565735,
+              0.7686577439308167
+            ],
+            "closest_ee_minus_button": [
+              0.0008920398934834373,
+              0.001587958516047816,
+              0.03502523019375392
+            ],
+            "button_min_z_position": [
+              0.12470534443855283,
+              -0.44745805859565735,
+              0.7686577439308167
+            ],
+            "min_active_finger_to_button": 0.14438241958779885,
+            "closest_active_finger": [
+              -0.002245008945465088,
+              -0.5071485042572021,
+              0.8106756806373596
+            ],
+            "closest_active_finger_button": [
+              0.12468156218528745,
+              -0.4474802613258362,
+              0.7763882279396057
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12692657113075254,
+              -0.05966824293136597,
+              0.034287452697753906
+            ],
+            "min_contact_pad_to_button": 0.020915872220490295,
+            "closest_contact_pad": [
+              0.12470534443855283,
+              -0.44745805859565735,
+              0.789573616151307
+            ],
+            "closest_contact_pad_button": [
+              0.12470534443855283,
+              -0.44745805859565735,
+              0.7686577439308167
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020915872220490295
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "857929d710a054ebd817718d3fbbb5f2e81e26c2acf00291c0fab0d3637a1807",
+    "visual_seed": 3517633648922917555,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..06c096f72d1ae8bd3425b52ecdebf31b69f5841b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35255244728831603,
+              -0.05181411519594485,
+              1.0452554135418561
+            ],
+            "current_z": 1.0452554135418561,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1886688465286458,
+            "gripper_z": 1.0479441098059783,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3477570897591893,
+              -0.05637593921861807,
+              1.0479441098059783
+            ],
+            "object_minus_gripper": [
+              0.0047953575291267425,
+              0.0045618240226732165,
+              -0.002688696264122159
+            ],
+            "object_to_gripper_xy": 0.006618586876818267,
+            "object_to_gripper_z": -0.002688696264122159,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35255244728831603,
+              -0.07622585513224224,
+              1.0452554135418561
+            ],
+            "finger_b": [
+              0.3413815004641323,
+              -0.05181411519594485,
+              1.0452554135418561
+            ],
+            "finger_midpoint": [
+              0.34696697387622416,
+              -0.06401998516409355,
+              1.0452554135418561
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+              -0.4401938319206238,
+              0.7766369581222534
+            ],
+            "closest_active_finger_index": 1,
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+              -0.12579657882452014,
+              -0.06378066539764404,
+              0.03445398807525635
+            ],
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+            "closest_contact_pad": [
+              0.12128704041242602,
+              -0.44017210602760315,
+              0.7895312641290483
+            ],
+            "closest_contact_pad_button": [
+              0.12128704041242602,
+              -0.44017210602760315,
+              0.7685853242874146
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02094593984163373
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "28ce7010ae0719c490549aa4899d1691877c958da617821ad61d25b9f8d2e151",
+    "visual_seed": 588619886713088892,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a601e79738fb28fc493f52a4da4a5ff0ca6887b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              -0.049703634768973895,
+              1.0466188489560941
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+              0.004429151543149656,
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+            "object_to_gripper_z": -0.002205348557491549,
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+              -0.07409250396924585,
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+              -0.061898069369109875,
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 213,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+              "source_missing": false,
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+              ],
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+          }
+        },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0022857508869165155,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025140051610380958,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.004888719237964493,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.267626533371643,
+              -0.38000508635820124,
+              0.8470195207938208
+            ],
+            "target_position": [
+              0.2618397993731296,
+              -0.381979264362568,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006114218606042488,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1828599658054542,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195207938208,
+            "min_z": 0.5730800627579278,
+            "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": 0.07584873119776242,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08987246295538386,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15061822148512996,
+            "release_required_pad_clearance": 0.05493623147769193,
+            "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": 4.939791748426991,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00805962085723877,
+            "max_z_decrease": 0.00805962085723877,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515206804958795,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00805962085723877,
+            "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": 0.02127479439650372,
+            "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": 0.00805962085723877,
+            "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": 0.008059631654840882,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11753972619771955,
+              -0.43824073672294617,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11753972619771955,
+              -0.43824073672294617,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11744912332541868,
+              -0.4401923751935049,
+              0.8038463035864399
+            ],
+            "closest_button": [
+              0.11753460764884946,
+              -0.438228577375412,
+              0.7687492370605469
+            ],
+            "closest_ee_minus_button": [
+              -8.548432343077894e-05,
+              -0.001963797818092916,
+              0.03509706652589306
+            ],
+            "button_min_z_position": [
+              0.11753460764884946,
+              -0.438228577375412,
+              0.7687492370605469
+            ],
+            "min_active_finger_to_button": 0.14567360598748544,
+            "closest_active_finger": [
+              -0.023129791021347046,
+              -0.42256826162338257,
+              0.8107548356056213
+            ],
+            "closest_active_finger_button": [
+              0.11754039674997327,
+              -0.4382387101650238,
+              0.7763000130653381
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14067018777132032,
+              0.015670448541641235,
+              0.0344548225402832
+            ],
+            "min_contact_pad_to_button": 0.02127479439650372,
+            "closest_contact_pad": [
+              0.11753460764884946,
+              -0.4415121069184399,
+              0.789769115993442
+            ],
+            "closest_contact_pad_button": [
+              0.11753460764884946,
+              -0.438228577375412,
+              0.7687492370605469
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0032835295430279077,
+              0.021019878932895142
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbaa6b1f5a86eeb98e920d78806614ca333b5a2ad6faaa72e785bae6e5c60cfd",
+    "visual_seed": 3654128692638695770,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1c0895862822f7e0dee2879420adccabf15c07e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3516263047214229,
+              -0.04776303670924484,
+              1.0486026271286766
+            ],
+            "current_z": 1.0486026271286766,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19201623892940056,
+            "gripper_z": 1.0507265486503392,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34696702273046204,
+              -0.05231203529901615,
+              1.0507265486503392
+            ],
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+              0.004659281990960884,
+              0.004548998589771314,
+              -0.0021239215216626306
+            ],
+            "object_to_gripper_xy": 0.0065117046033303615,
+            "object_to_gripper_z": -0.0021239215216626306,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3516263047214229,
+              -0.07208605031742438,
+              1.0486026271286766
+            ],
+            "finger_b": [
+              0.3404908060108135,
+              -0.04776303670924484,
+              1.0486026271286766
+            ],
+            "finger_midpoint": [
+              0.3460585553661182,
+              -0.05992454351333461,
+              1.0486026271286766
+            ],
+            "object_minus_finger_midpoint": [
+              0.005567749355304741,
+              0.01216150680408977,
+              0.0
+            ],
+            "finger_gap": 0.02675085648194598,
+            "fingertip_max_gap": 0.0990090242140301,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013375428240973002,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486026271286766,
+            "object_top_z": 1.0967260712190574,
+            "finger_top_clearance": 0.04812344409038083,
+            "fingertip_min_top_clearance": 0.014437033227114248,
+            "object_projection_between_fingers": 0.8267217867202457,
+            "object_to_finger_line_xy": 0.010124867846934681,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05200451210701505,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.6875489944735964,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "541346656add128590b91f26a8f4fba8a48dc7ea50b0e51266805c9df3b51734",
+    "visual_seed": 7180277135122343343,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..56dd14721db02eeaec157178e97ac91d0e827621
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              -0.05114098393508347,
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+              -0.06312980969315204,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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",
+            "passed": true,
+            "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.05505530602539625,
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+              -0.05098960942392183,
+              1.2386146361604802
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+            "max_held_gripper_z_dist": 0.0017812798220926407,
+            "held_gripper_z_max_dist": 0.15,
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+              -0.06361422565208756,
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+              -0.05098960942392183,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15347478888548743,
+            "release_required_pad_clearance": 0.05370576024015723,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.420938040656808,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00805211067199707,
+            "max_z_decrease": 0.00805211067199707,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035150143224555494,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00805211067199707,
+            "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": 0.021033868566355918,
+            "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": 0.00805211067199707,
+            "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": 0.008052122907991954,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12365391105413437,
+              -0.4430772364139557,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12365391105413437,
+              -0.4430772364139557,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12440501154553163,
+              -0.44151786945599913,
+              0.8082516403190108
+            ],
+            "closest_button": [
+              0.12365210056304932,
+              -0.4430720806121826,
+              0.7731439471244812
+            ],
+            "closest_ee_minus_button": [
+              0.0007529109824823133,
+              0.0015542111561834826,
+              0.035107693194529555
+            ],
+            "button_min_z_position": [
+              0.12364336848258972,
+              -0.4430679678916931,
+              0.7687567472457886
+            ],
+            "min_active_finger_to_button": 0.1448929720672889,
+            "closest_active_finger": [
+              -0.0033448487520217896,
+              -0.5037864446640015,
+              0.8108649849891663
+            ],
+            "closest_active_finger_button": [
+              0.1236545741558075,
+              -0.44307520985603327,
+              0.776524543762207
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12699942290782928,
+              -0.060711234807968195,
+              0.03434044122695923
+            ],
+            "min_contact_pad_to_button": 0.021033868566355918,
+            "closest_contact_pad": [
+              0.12364336848258972,
+              -0.4430679678916931,
+              0.7897906158121445
+            ],
+            "closest_contact_pad_button": [
+              0.12364336848258972,
+              -0.4430679678916931,
+              0.7687567472457886
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021033868566355918
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "57aaee4b9d7f98875179cff783f8205f740aff7239eb742cd97d19c9c18d424c",
+    "visual_seed": 1713297723182451326,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..faff7503a65f4c89423bb6204cafee0e21cac9fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35620250895989874,
+              -0.05211312159671165,
+              1.047814316346863
+            ],
+            "current_z": 1.047814316346863,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19122786854294216,
+            "gripper_z": 1.0496968545098722,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35145028526660216,
+              -0.056767724475861134,
+              1.0496968545098722
+            ],
+            "object_minus_gripper": [
+              0.004752223693296587,
+              0.004654602879149483,
+              -0.0018825381630092064
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+            "object_to_gripper_xy": 0.006651989025375501,
+            "object_to_gripper_z": -0.0018825381630092064,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.35620250895989874,
+              -0.07639118178543161,
+              1.047814316346863
+            ],
+            "finger_b": [
+              0.34476497123941174,
+              -0.05211312159671165,
+              1.047814316346863
+            ],
+            "finger_midpoint": [
+              0.3504837400996552,
+              -0.06425215169107162,
+              1.047814316346863
+            ],
+            "object_minus_finger_midpoint": [
+              0.005718768860243528,
+              0.012139030094359973,
+              0.0
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+            "finger_gap": 0.026837314985569478,
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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_to_finger_line_xy": 0.010346833479356974,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050643940898761494,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.062276570442714,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3564285411029873,
+              -0.05548177932769645,
+              1.2428592028516277
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+            "held_position": [
+              0.3614577774343792,
+              -0.051163513108822736,
+              1.2408935280936821
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006914081173090343,
+            "max_held_gripper_dist": 0.006919166554221229,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019656747579455125,
+            "max_held_gripper_z_dist": 0.001972559036870436,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08710337747921293,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3614577774343792,
+              -0.07642865261001446,
+              1.2408935280936821
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+              -0.051163513108822736,
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+              -0.0637960828594186,
+              1.2408935280936821
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+            "held_grasp_object_position": [
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+              -0.051163513108822736,
+              1.2408935280936821
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+            "held_grasp_finger_gap": 0.02697893362713615,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025078460505714852,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9997536912780539,
+              0.011351379452524403
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004491692028004575,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03248053874169681,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
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+          "failure_messages": {},
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+                "beaker_b"
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+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
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+                "finger",
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+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "fr3_rightfinger",
+                "franka",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_3_joint"
+              ],
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+                "base_link",
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+            },
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26723490715229403,
+              -0.3831479750770242,
+              0.8470195271449902
+            ],
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+              0.2621866231531846,
+              -0.38456514612816917,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.0052434287564405635,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18286875652277426,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195271449902,
+            "min_z": 0.5730800627579278,
+            "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": 0.07540228570475875,
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8490076419903991,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008214354515075684,
+            "max_z_decrease": 0.008214354515075684,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507020727494042,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008214354515075684,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02116332688284382,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.008214354515075684,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008214394595029522,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11788655072450636,
+              -0.4408265948295593,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11788655072450636,
+              -0.4408265948295593,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11911167806131512,
+              -0.44267910672929667,
+              0.8035929912234953
+            ],
+            "closest_button": [
+              0.11788780242204666,
+              -0.4408009648323059,
+              0.76859450340271
+            ],
+            "closest_ee_minus_button": [
+              0.0012238756392684569,
+              -0.0018781418969907593,
+              0.034998487820785296
+            ],
+            "button_min_z_position": [
+              0.11788780242204666,
+              -0.4408009648323059,
+              0.76859450340271
+            ],
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+            "closest_active_finger": [
+              -0.021543152630329132,
+              -0.4255850911140442,
+              0.8111672401428223
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+            "closest_active_finger_button": [
+              0.11789043992757797,
+              -0.4408223032951355,
+              0.7767106890678406
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1394335925579071,
+              0.015237212181091309,
+              0.03445655107498169
+            ],
+            "min_contact_pad_to_button": 0.02116332688284382,
+            "closest_contact_pad": [
+              0.11788780242204666,
+              -0.44395241120499623,
+              0.7895218728148018
+            ],
+            "closest_contact_pad_button": [
+              0.11788780242204666,
+              -0.4408009648323059,
+              0.76859450340271
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031514463726903252,
+              0.020927369412091834
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11fdc6e0202e87f774160b8153b26c2758eb1c4e0676ff71f7043c1b316b3e23",
+    "visual_seed": 1068887962281023278,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fff3853dfdb793b3fa8f6a964ad8cfaa2b5dac5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_1_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35583952317877093,
+              -0.05315674676915797,
+              1.0458254574582528
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+            "current_z": 1.0458254574582528,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18923900965433205,
+            "gripper_z": 1.0476089573321192,
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+            "gripper_position": [
+              0.35089522498024583,
+              -0.05788297655368582,
+              1.0476089573321192
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+              0.004944298198525099,
+              0.004726229784527851,
+              -0.0017834998738663899
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+            "object_to_gripper_xy": 0.006839834256186089,
+            "object_to_gripper_z": -0.0017834998738663899,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35583952317877093,
+              -0.07758071609170544,
+              1.0458254574582528
+            ],
+            "finger_b": [
+              0.3443153778593127,
+              -0.05315674676915797,
+              1.0458254574582528
+            ],
+            "finger_midpoint": [
+              0.3500774505190418,
+              -0.0653687314304317,
+              1.0458254574582528
+            ],
+            "object_minus_finger_midpoint": [
+              0.005762072659729112,
+              0.012211984661273732,
+              0.0
+            ],
+            "finger_gap": 0.027006225260349345,
+            "fingertip_max_gap": 0.09678182613573769,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "closest_contact_pad": [
+              0.12168937921524048,
+              -0.4437244754133643,
+              0.789815478437071
+            ],
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+              0.12168937921524048,
+              -0.4426853656768798,
+              0.7687700390815735
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001039109736484467,
+              0.02104543935549752
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ea3d075ff27566adab0062d8afcb54345b16a882250a851e94b3d2ef60b7ca4",
+    "visual_seed": 6720954053400547859,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bda260502a5002f48a3d76de6cb0adbd46427958
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              -0.04230945741757681,
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+            "lift_margin": 0.18978644113126386,
+            "gripper_z": 1.048634561012127,
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+            "gripper_position": [
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+              0.0044972555332404365,
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+              -0.05452567944056948,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                {
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.0023387613567236176,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02519136928026483,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.005070878427002741,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+            "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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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26415373437396716,
+              -0.38934550918221217,
+              0.8470196233511285
+            ],
+            "target_position": [
+              0.26386243209138743,
+              -0.3880956853130526,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0012833225330201043,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18021666712649065,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196233511285,
+            "min_z": 0.5730800627579278,
+            "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": 0.0753917914812582,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09111420611054862,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14851343441556236,
+            "release_required_pad_clearance": 0.05555710305527431,
+            "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": 6.265257653350034,
+            "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": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008104383945465088,
+            "max_z_decrease": 0.008104383945465088,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508525024587386,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008104383945465088,
+            "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": 0.021160132348878542,
+            "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": 0.008104383945465088,
+            "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": 0.008104423760761844,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11956235766410825,
+              -0.44435715675354004,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11956235766410825,
+              -0.44435715675354004,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11843995309414485,
+              -0.4462758084808757,
+              0.8037176325783912
+            ],
+            "closest_button": [
+              0.11957810074090955,
+              -0.4443372189998627,
+              0.7687044739723206
+            ],
+            "closest_ee_minus_button": [
+              -0.0011381476467647034,
+              -0.0019385894810129978,
+              0.03501315860607068
+            ],
+            "button_min_z_position": [
+              0.11957810074090955,
+              -0.4443372189998627,
+              0.7687044739723206
+            ],
+            "min_active_finger_to_button": 0.1467699126383159,
+            "closest_active_finger": [
+              -0.02252642810344696,
+              -0.43170905113220215,
+              0.8110023736953735
+            ],
+            "closest_active_finger_button": [
+              0.11956284195184703,
+              -0.4443567991256714,
+              0.7764758467674255
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14208927005529398,
+              0.012647747993469238,
+              0.034526526927948
+            ],
+            "min_contact_pad_to_button": 0.021160132348878542,
+            "closest_contact_pad": [
+              0.11957810074090955,
+              -0.447323276884879,
+              0.7896528548006659
+            ],
+            "closest_contact_pad_button": [
+              0.11957810074090955,
+              -0.4443372189998627,
+              0.7687044739723206
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002986057885016269,
+              0.02094838082834538
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1035ff812b1cce4a367cc0bdc92c1552a853cea5aff86a84d3c4902ef3e861d4",
+    "visual_seed": 4998659579477590417,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0abb1c8ca336f13509ed1a4620947c40442993a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35169585167016876,
+              -0.04426254648687414,
+              1.049356378084523
+            ],
+            "current_z": 1.049356378084523,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1927699302806022,
+            "gripper_z": 1.051007158998654,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34729345624760594,
+              -0.048800014213996934,
+              1.051007158998654
+            ],
+            "object_minus_gripper": [
+              0.0044023954225628215,
+              0.004537467727122796,
+              -0.001650780914131067
+            ],
+            "object_to_gripper_xy": 0.006322159348773408,
+            "object_to_gripper_z": -0.001650780914131067,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35169585167016876,
+              -0.06811542449212445,
+              1.049356378084523
+            ],
+            "finger_b": [
+              0.34018475850393004,
+              -0.04426254648687414,
+              1.049356378084523
+            ],
+            "finger_midpoint": [
+              0.3459403050870494,
+              -0.05618898548949929,
+              1.049356378084523
+            ],
+            "object_minus_finger_midpoint": [
+              0.005755546583119331,
+              0.011926439002625154,
+              0.0
+            ],
+            "finger_gap": 0.026485185576378006,
+            "fingertip_max_gap": 0.094217169869478,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01324259278818899,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049356378084523,
+            "object_top_z": 1.0956635313948349,
+            "finger_top_clearance": 0.04630715331031188,
+            "fingertip_min_top_clearance": 0.013892145993093597,
+            "object_projection_between_fingers": 0.8111021141616813,
+            "object_to_finger_line_xy": 0.010367029530888094,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049608584934739006,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.239187408381772,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
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+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
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+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef531f4ef1473cc30311b11e565908f514927727c0fcb45bf0f293e45a9d2625",
+    "visual_seed": 3212335966944556142,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65d9e15706c9175a02805c66b4fad10df5e8d5aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              1.0499091887320693
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+              0.004515299122054062,
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+              1.0
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+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+          }
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+            },
+            "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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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.1542673693699151,
+            "release_required_pad_clearance": 0.05401503854524438,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0414271607412586,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008080065250396729,
+            "max_z_decrease": 0.008080065250396729,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350914069569191,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008080065250396729,
+            "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": 0.021067067859830823,
+            "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": 0.008080065250396729,
+            "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": 0.008080079426567462,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12083511799573894,
+              -0.4387308359146118,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12083511799573894,
+              -0.4387308359146118,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12032496999755848,
+              -0.4390540759283858,
+              0.803814821090746
+            ],
+            "closest_button": [
+              0.12083793431520459,
+              -0.43871596455574036,
+              0.7687287926673889
+            ],
+            "closest_ee_minus_button": [
+              -0.0005129643176461085,
+              -0.00033811137264544433,
+              0.03508602842335706
+            ],
+            "button_min_z_position": [
+              0.12083793431520459,
+              -0.43871596455574036,
+              0.7687287926673889
+            ],
+            "min_active_finger_to_button": 0.14624491704291015,
+            "closest_active_finger": [
+              -0.020214639604091644,
+              -0.4211859703063965,
+              0.8106797933578491
+            ],
+            "closest_active_finger_button": [
+              0.12083566933870313,
+              -0.43872904777526855,
+              0.7762613892555237
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14105030894279477,
+              0.01754307746887207,
+              0.03441840410232544
+            ],
+            "min_contact_pad_to_button": 0.021067067859830823,
+            "closest_contact_pad": [
+              0.12083793431520459,
+              -0.4403952378686618,
+              0.789728825747154
+            ],
+            "closest_contact_pad_button": [
+              0.12083793431520459,
+              -0.43871596455574036,
+              0.7687287926673889
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016792733129214477,
+              0.021000033079765057
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f9a45be48747dd348e0e5bf2abe4470cc7d5fd4cf02307bff6b575b77c0e29de",
+    "visual_seed": 3205210253636621306,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..817c1bd11d442f8dc900223e581e07c1caddd27d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3597087021535148,
+              -0.04429397088974176,
+              1.0454388044447442
+            ],
+            "current_z": 1.0454388044447442,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18885241624546822,
+            "gripper_z": 1.047617913268861,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.354878716700527,
+              -0.048951157112467156,
+              1.047617913268861
+            ],
+            "object_minus_gripper": [
+              0.004829985452987795,
+              0.004657186222725394,
+              -0.00217910882411676
+            ],
+            "object_to_gripper_xy": 0.006709556094796208,
+            "object_to_gripper_z": -0.00217910882411676,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3597087021535148,
+              -0.06873647556412678,
+              1.0454388044447442
+            ],
+            "finger_b": [
+              0.3484213178182573,
+              -0.04429397088974176,
+              1.0454388044447442
+            ],
+            "finger_midpoint": [
+              0.3540650099858861,
+              -0.056515223226934266,
+              1.0454388044447442
+            ],
+            "object_minus_finger_midpoint": [
+              0.005643692167628722,
+              0.012221252337192505,
+              0.0
+            ],
+            "finger_gap": 0.026922872801563167,
+            "fingertip_max_gap": 0.0965001367381754,
+            "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": 1.0919024895647786,
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+            "object_projection_between_fingers": 0.8242303745376842,
+            "object_to_finger_line_xy": 0.01024749276979437,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0507500683690877,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.713325906796726,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3595206224538735,
+              -0.046844980998840255,
+              1.2395867092358468
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+            "held_position": [
+              0.3645477429768747,
+              -0.04244178380419002,
+              1.2373414600329322
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007049909947718771,
+            "max_held_gripper_dist": 0.007058291468454058,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022452492029145787,
+            "max_held_gripper_z_dist": 0.0022501924606666,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08762949297813472,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3645477429768747,
+              -0.06756787587190947,
+              1.2373414600329322
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+            "held_grasp_finger_b": [
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+              -0.04244178380419002,
+              1.2373414600329322
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+              -0.055004829838049746,
+              1.2373414600329322
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+            "held_grasp_object_position": [
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+              -0.04244178380419002,
+              1.2373414600329322
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+            "held_grasp_finger_gap": 0.026984547617129605,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025266606702064508,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.014557983961474202,
+              -0.9998905319053378,
+              0.002643730137197653
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005102979326481035,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03271018675454853,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26885293884745637,
+              -0.3809685772435819,
+              0.8470196918070976
+            ],
+            "target_position": [
+              0.2643594513407488,
+              -0.3828555765810466,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0048736225205209755,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18622182176067564,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196918070976,
+            "min_z": 0.5730800627579278,
+            "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": 0.0754899339642814,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08939421383605582,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15469410205219458,
+            "release_required_pad_clearance": 0.05469710691802791,
+            "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": 4.439463140307272,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008195042610168457,
+            "max_z_decrease": 0.008195042610168457,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505113582138957,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008195042610168457,
+            "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": 0.021159241432614734,
+            "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": 0.008195042610168457,
+            "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": 0.00819507072025546,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12005937844514844,
+              -0.43911704421043396,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12005937844514844,
+              -0.43911704421043396,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12050239310777605,
+              -0.4410404208356391,
+              0.8036082859146966
+            ],
+            "closest_button": [
+              0.12006582319736478,
+              -0.4390965700149536,
+              0.7686138153076172
+            ],
+            "closest_ee_minus_button": [
+              0.0004365699104112719,
+              -0.0019438508206854888,
+              0.034994470607079387
+            ],
+            "button_min_z_position": [
+              0.12006582319736478,
+              -0.4390965700149536,
+              0.7686138153076172
+            ],
+            "min_active_finger_to_button": 0.1452302276888593,
+            "closest_active_finger": [
+              -0.02036193758249283,
+              -0.4255885183811188,
+              0.8111642599105835
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+            "closest_active_finger_button": [
+              0.12006200104951854,
+              -0.43911394476890564,
+              0.7766678929328918
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14042393863201136,
+              0.013525426387786865,
+              0.03449636697769165
+            ],
+            "min_contact_pad_to_button": 0.021159241432614734,
+            "closest_contact_pad": [
+              0.12006582319736478,
+              -0.44216799780777866,
+              0.7895489491576106
+            ],
+            "closest_contact_pad_button": [
+              0.12006582319736478,
+              -0.4390965700149536,
+              0.7686138153076172
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030714277928250433,
+              0.02093513384999346
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bac578e668324a60dd7d465868f6411de0607c4080b4d819e95ddba089d12b9b",
+    "visual_seed": 5441453224276885433,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cde497a360ed8c0ddadb1b943f4a542b0c21061c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3519789333964881,
+              -0.04723382221371183,
+              1.046571896669046
+            ],
+            "current_z": 1.046571896669046,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18998538926048048,
+            "gripper_z": 1.0481552872201347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34765639009236055,
+              -0.051697196276368776,
+              1.0481552872201347
+            ],
+            "object_minus_gripper": [
+              0.0043225433041275685,
+              0.004463374062656948,
+              -0.0015833905510886925
+            ],
+            "object_to_gripper_xy": 0.006213379808063955,
+            "object_to_gripper_z": -0.0015833905510886925,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3519789333964881,
+              -0.07111299738958518,
+              1.046571896669046
+            ],
+            "finger_b": [
+              0.34069164353353926,
+              -0.04723382221371183,
+              1.046571896669046
+            ],
+            "finger_midpoint": [
+              0.3463352884650137,
+              -0.05917340980164851,
+              1.046571896669046
+            ],
+            "object_minus_finger_midpoint": [
+              0.005643644931474401,
+              0.01193958758793668,
+              0.0
+            ],
+            "finger_gap": 0.026412457657898368,
+            "fingertip_max_gap": 0.0942733532963945,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013206228828949175,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046571896669046,
+            "object_top_z": 1.0925438016859137,
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+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007967878449969268,
+              0.020915920735686155
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb1166f34def336ffb01275b1044d1a39bcc4e8e3aab9097d82a077d6e72c844",
+    "visual_seed": 2953497198244971387,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9679617d76455a8cc99449976798c208f9d79a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              -0.045084631956053355,
+              1.0473240011172757
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+            "lift_margin": 0.19073761291799962,
+            "gripper_z": 1.0491672018546614,
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+            "gripper_position": [
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+              -0.04968319076819851,
+              1.0491672018546614
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+              0.004598558812145152,
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+            "object_to_gripper_z": -0.0018432007373856418,
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+              -0.06947234237835702,
+              1.0473240011172757
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+              -0.05727848716720518,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.0019304317317501152,
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+            "held_object_xy_range": 0.08700063453669583,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.0046159537602480745,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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_b",
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+            "object_position": [
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+            "xy_dist": 0.0051340750397500965,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18602281580070415,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019640522718,
+            "min_z": 0.5730800627579278,
+            "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": 0.07550173012812755,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08911218823558521,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15440582553072016,
+            "release_required_pad_clearance": 0.05455609411779261,
+            "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": 4.146974905418258,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008209526538848877,
+            "max_z_decrease": 0.008209526538848877,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035030832507119025,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008209526538848877,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02103561497122726,
+            "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": 0.008209526538848877,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008209568226573379,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12339289486408232,
+              -0.4475746154785156,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12339289486408232,
+              -0.4475746154785156,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1219170365008155,
+              -0.44872524648766504,
+              0.8035789618037724
+            ],
+            "closest_button": [
+              0.12340132892131803,
+              -0.4475498497486114,
+              0.7685993313789368
+            ],
+            "closest_ee_minus_button": [
+              -0.0014842924205025199,
+              -0.0011753967390536468,
+              0.03497963042483565
+            ],
+            "button_min_z_position": [
+              0.12340132892131803,
+              -0.4475498497486114,
+              0.7685993313789368
+            ],
+            "min_active_finger_to_button": 0.14710802274071097,
+            "closest_active_finger": [
+              -0.018730349838733673,
+              -0.4315453767776489,
+              0.8107494711875916
+            ],
+            "closest_active_finger_button": [
+              0.12339325249195097,
+              -0.44757342338562006,
+              0.7763292193412781
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14212360233068466,
+              0.016028046607971136,
+              0.03442025184631348
+            ],
+            "min_contact_pad_to_button": 0.02103561497122726,
+            "closest_contact_pad": [
+              0.12340132892131803,
+              -0.45000443612070457,
+              0.7894912461537882
+            ],
+            "closest_contact_pad_button": [
+              0.12340132892131803,
+              -0.4475498497486114,
+              0.7685993313789368
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024545863720931704,
+              0.020891914774851417
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "be2f30b5c8db14bbfbce9e38441ff1a8a207daa22fdacd8a45806b54154da983",
+    "visual_seed": 6596774846420692609,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3be2445a1869b19492fd708ec4409a8cc26295b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35579662490337965,
+              -0.05148478056022476,
+              1.04961508799479
+            ],
+            "current_z": 1.04961508799479,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19302852098157974,
+            "gripper_z": 1.0510645076831129,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3514555847447982,
+              -0.05596873220653743,
+              1.0510645076831129
+            ],
+            "object_minus_gripper": [
+              0.004341040158581444,
+              0.00448395164631267,
+              -0.001449419688322795
+            ],
+            "object_to_gripper_xy": 0.006241029724723871,
+            "object_to_gripper_z": -0.001449419688322795,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35579662490337965,
+              -0.0753389078264508,
+              1.04961508799479
+            ],
+            "finger_b": [
+              0.3444299982207889,
+              -0.05148478056022476,
+              1.04961508799479
+            ],
+            "finger_midpoint": [
+              0.35011331156208425,
+              -0.06341184419333779,
+              1.04961508799479
+            ],
+            "object_minus_finger_midpoint": [
+              0.005683313341295404,
+              0.011927063633113022,
+              0.0
+            ],
+            "finger_gap": 0.02642384509821938,
+            "fingertip_max_gap": 0.09556044242381659,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013211922549109707,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04961508799479,
+            "object_top_z": 1.0963430586973437,
+            "finger_top_clearance": 0.046727970702553634,
+            "fingertip_min_top_clearance": 0.01401839121076609,
+            "object_projection_between_fingers": 0.8149576379215089,
+            "object_to_finger_line_xy": 0.010261222712529152,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050280221211908296,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7395593495771124,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d50b265751cc727b5c101fa53acf8a644e1a92a25d6384784a08bdf0b8ac2c75",
+    "visual_seed": 299523203074641795,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..792854eced2ceaeada236a8698edcd46c817719c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              -0.050214970191531774,
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+              0.004569218147282075,
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+            "object_to_gripper_z": -0.0015052762183520585,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.07435659780349568,
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+              -0.06228578399751373,
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+              0.0
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "target": "beaker_b",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              -0.0539942107102587,
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+              -0.04980050347628153,
+              1.2352457118918165
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+            "held_shake_count": 5,
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+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+        },
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+        "post_done_wait_frames": 0,
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15402209395969754,
+            "release_required_pad_clearance": 0.05369169804925028,
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+            "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": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "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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+              "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.008145809173583984,
+            "max_z_decrease": 0.008145809173583984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350122833461488,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008145809173583984,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02091872379054782,
+            "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": 0.008145809173583984,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008145881654099872,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12498252838850019,
+              -0.4455833733081817,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12498252838850019,
+              -0.4455833733081817,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12501590526739784,
+              -0.44500117715668314,
+              0.8036708940134719
+            ],
+            "closest_button": [
+              0.12500628829002375,
+              -0.44555854797363276,
+              0.7686630487442017
+            ],
+            "closest_ee_minus_button": [
+              9.616977374088398e-06,
+              0.0005573708169496205,
+              0.035007845269270255
+            ],
+            "button_min_z_position": [
+              0.12500628829002375,
+              -0.44555854797363276,
+              0.7686630487442017
+            ],
+            "min_active_finger_to_button": 0.14558931040357606,
+            "closest_active_finger": [
+              -0.0026747211813926697,
+              -0.5065985321998596,
+              0.8106545209884644
+            ],
+            "closest_active_finger_button": [
+              0.12498246133327481,
+              -0.4455815851688385,
+              0.776349663734436
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12765718251466748,
+              -0.06101694703102112,
+              0.03430485725402832
+            ],
+            "min_contact_pad_to_button": 0.02091872379054782,
+            "closest_contact_pad": [
+              0.12500628829002375,
+              -0.44632302025510984,
+              0.7895677990932511
+            ],
+            "closest_contact_pad_button": [
+              0.12500628829002375,
+              -0.44555854797363276,
+              0.7686630487442017
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007644722814770799,
+              0.020904750349049483
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0978cb1a8383f6a67321428e1fc09336386e8a21958b285cf63483da9a94aadb",
+    "visual_seed": 4082916437586945056,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37e30b80d915c13473b664160f327010b4716b0c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3587874089034477,
+              -0.0476798228670202,
+              1.0492542619173542
+            ],
+            "current_z": 1.0492542619173542,
+            "required_z": 0.8565865670132103,
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+            "lift_margin": 0.19266769490414382,
+            "gripper_z": 1.0505679972589876,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35449325257561903,
+              -0.05213234436186241,
+              1.0505679972589876
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+              0.0042941563278286465,
+              0.00445252149484221,
+              -0.0013137353416334818
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+            "object_to_gripper_xy": 0.0061858488689801264,
+            "object_to_gripper_z": -0.0013137353416334818,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3587874089034477,
+              -0.07149962254537641,
+              1.0492542619173542
+            ],
+            "finger_b": [
+              0.3474580086307508,
+              -0.0476798228670202,
+              1.0492542619173542
+            ],
+            "finger_midpoint": [
+              0.3531227087670993,
+              -0.059589722706198306,
+              1.0492542619173542
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056647001363483995,
+              0.011909899839178104,
+              0.0
+            ],
+            "finger_gap": 0.026376849077477053,
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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_to_finger_line_xy": 0.01023109485817956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049528698481156944,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3996108906445537,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35994654044219554,
+              -0.051606492036552154,
+              1.2423889589164419
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+            "held_position": [
+              0.3646139648453583,
+              -0.04758084943100273,
+              1.2409784879111752
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006322980104630414,
+            "max_held_gripper_dist": 0.006324508195184339,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014104710052667002,
+            "max_held_gripper_z_dist": 0.0014111507719434258,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08744381841103685,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3646139648453583,
+              -0.07281295303316193,
+              1.2409784879111752
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+              -0.04758084943100273,
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+            "held_grasp_midpoint": [
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+              -0.06019690123208233,
+              1.2409784879111752
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+            "held_grasp_object_position": [
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+              -0.04758084943100273,
+              1.2409784879111752
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+            "held_grasp_finger_gap": 0.026665755536983294,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024713962073728987,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05554633570209191,
+              -0.9984538334241331,
+              0.002132395536568521
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036055404201979905,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03236411543574454,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27125606626465826,
+              -0.38166761366379287,
+              0.8470195510536398
+            ],
+            "target_position": [
+              0.2658743124816488,
+              -0.3829584679593858,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005534399569365011,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842856525909437,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195510536398,
+            "min_z": 0.5730800627579278,
+            "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": 0.07571560968848852,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08704914963644349,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15227408979047963,
+            "release_required_pad_clearance": 0.053524574818221746,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0604323622378384,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008075237274169922,
+            "max_z_decrease": 0.008075237274169922,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035141617558469264,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008075237274169922,
+            "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": 0.021008875741619915,
+            "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": 0.008075237274169922,
+            "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": 0.008075248051327475,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1215742379426956,
+              -0.4392199218273163,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1215742379426956,
+              -0.4392199218273163,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12144540252074179,
+              -0.4375511422774886,
+              0.8080428474684417
+            ],
+            "closest_button": [
+              0.12157077342271802,
+              -0.43921518325805664,
+              0.7729408740997314
+            ],
+            "closest_ee_minus_button": [
+              -0.00012537090197622947,
+              0.001664040980568049,
+              0.03510197336871024
+            ],
+            "button_min_z_position": [
+              0.12157253921031948,
+              -0.4392068386077881,
+              0.7687336206436157
+            ],
+            "min_active_finger_to_button": 0.14562414994341932,
+            "closest_active_finger": [
+              -0.006640352308750153,
+              -0.49911782145500183,
+              0.8105971217155457
+            ],
+            "closest_active_finger_button": [
+              0.12157426774501796,
+              -0.43921801447868347,
+              0.7762544751167297
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1282146200537681,
+              -0.05989980697631836,
+              0.03434264659881592
+            ],
+            "min_contact_pad_to_button": 0.021008875741619915,
+            "closest_contact_pad": [
+              0.12157253921031948,
+              -0.4392068386077881,
+              0.7897424963852356
+            ],
+            "closest_contact_pad_button": [
+              0.12157253921031948,
+              -0.4392068386077881,
+              0.7687336206436157
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021008875741619915
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d4478b8834bc73be78254d7bca040c6131ee2029b9dee81b276be298391d3a2f",
+    "visual_seed": 1434081655517498353,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9d045f5224079ed8a7897a219e64e3097555a12
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3568594021120497,
+              -0.04957673886895363,
+              1.0466934707855586
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+            "current_z": 1.0466934707855586,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19010702298163784,
+            "gripper_z": 1.048028901042817,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3525682114337131,
+              -0.05403453527858253,
+              1.048028901042817
+            ],
+            "object_minus_gripper": [
+              0.004291190678336609,
+              0.004457796409628893,
+              -0.001335430257258352
+            ],
+            "object_to_gripper_xy": 0.006187589697737178,
+            "object_to_gripper_z": -0.001335430257258352,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3568594021120497,
+              -0.07338143459501391,
+              1.0466934707855586
+            ],
+            "finger_b": [
+              0.3455059346919672,
+              -0.04957673886895363,
+              1.0466934707855586
+            ],
+            "finger_midpoint": [
+              0.35118266840200846,
+              -0.06147908673198377,
+              1.0466934707855586
+            ],
+            "object_minus_finger_midpoint": [
+              0.005676733710041237,
+              0.011902347863030134,
+              0.0
+            ],
+            "finger_gap": 0.026373561782004087,
+            "fingertip_max_gap": 0.09380261162127299,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01318678089100204,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0466934707855586,
+            "object_top_z": 1.0926391634042303,
+            "finger_top_clearance": 0.04594569261867165,
+            "fingertip_min_top_clearance": 0.01378370778560153,
+            "object_projection_between_fingers": 0.8146812063038761,
+            "object_to_finger_line_xy": 0.010247604764374939,
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+            ]
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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": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10f35d297228a6bfdb51fa1684a5c363f34cb58d85e32b41762cec6e2d9dd935",
+    "visual_seed": 8113944017338045324,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c250e46720783eac1715e9a6a520911d540dc25
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              0.0044779600146308135,
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+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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,
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
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+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 2,
+      "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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+            "object_z": 0.8470195663344362,
+            "min_z": 0.5730800627579278,
+            "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": 0.07556978138839669,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08670385938012325,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15368876807523132,
+            "release_required_pad_clearance": 0.053351929690061625,
+            "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": 1.7191457105054182,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008049488067626953,
+            "max_z_decrease": 0.008049488067626953,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511978378955036,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008049488067626953,
+            "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": 0.021032410001823994,
+            "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": 0.008049488067626953,
+            "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": 0.008049496941585303,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12458811700344086,
+              -0.44355896115303034,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12458811700344086,
+              -0.44355896115303034,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12346309223580576,
+              -0.4432071920129549,
+              0.8082379193650151
+            ],
+            "closest_button": [
+              0.12458366900682451,
+              -0.4435557723045348,
+              0.7731377482414246
+            ],
+            "closest_ee_minus_button": [
+              -0.001120576771018747,
+              0.0003485802915799141,
+              0.03510017112359054
+            ],
+            "button_min_z_position": [
+              0.12458060681819916,
+              -0.4435496628284453,
+              0.7687593698501587
+            ],
+            "min_active_finger_to_button": 0.14703835209225877,
+            "closest_active_finger": [
+              -0.004845671355724335,
+              -0.5043119192123413,
+              0.8108090162277222
+            ],
+            "closest_active_finger_button": [
+              0.12458749115467073,
+              -0.443558782339096,
+              0.77651047706604
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12943316251039505,
+              -0.060753136873245295,
+              0.03429853916168213
+            ],
+            "min_contact_pad_to_button": 0.021032410001823994,
+            "closest_contact_pad": [
+              0.12458060681819916,
+              -0.44447984285870007,
+              0.7897712006984247
+            ],
+            "closest_contact_pad_button": [
+              0.12458060681819916,
+              -0.4435496628284453,
+              0.7687593698501587
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009301800302547458,
+              0.021011830848265967
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b427999919862b46827f8798dc26b2e102417e36424f6d05629d0c95b531bb06",
+    "visual_seed": 898773340279809921,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25b4cae80ed47c451c8785b77601dab0c1115559
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3549116685843595,
+              -0.04938792877648044,
+              1.0442923282662977
+            ],
+            "current_z": 1.0442923282662977,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1877058804623769,
+            "gripper_z": 1.047394315983954,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.350094548583483,
+              -0.05394183674949539,
+              1.047394315983954
+            ],
+            "object_minus_gripper": [
+              0.004817120000876529,
+              0.004553907973014949,
+              -0.0031019877176563515
+            ],
+            "object_to_gripper_xy": 0.006628930753110476,
+            "object_to_gripper_z": -0.0031019877176563515,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3549116685843595,
+              -0.07381749108686529,
+              1.0442923282662977
+            ],
+            "finger_b": [
+              0.3437504027120488,
+              -0.04938792877648044,
+              1.0442923282662977
+            ],
+            "finger_midpoint": [
+              0.34933103564820417,
+              -0.06160270993167287,
+              1.0442923282662977
+            ],
+            "object_minus_finger_midpoint": [
+              0.00558063293615535,
+              0.01221478115519243,
+              0.0
+            ],
+            "finger_gap": 0.026858469251790647,
+            "fingertip_max_gap": 0.09706635612389872,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013429234625895325,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0442923282662977,
+            "object_top_z": 1.0913212612221883,
+            "finger_top_clearance": 0.04702893295589061,
+            "fingertip_min_top_clearance": 0.014108679886767166,
+            "object_projection_between_fingers": 0.8273111121055335,
+            "object_to_finger_line_xy": 0.010151912885810063,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05103317806194936,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.8201237908243266,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+    "visual_seed": 6375107320983844053,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a1e56fde7e9e06495406ecfae5a37c34c3542cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+              -0.05528787838605981,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "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",
+            "passed": true,
+            "source_missing": false,
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+                },
+                {
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "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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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+              ],
+              "ignored_prim_substrings": [
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+                "desk",
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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",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.008139848709106445,
+            "max_z_decrease": 0.008139848709106445,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505206930402219,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008139848709106445,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020934204961447933,
+            "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": 0.008139848709106445,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008139917477103652,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12411493808031081,
+              -0.44379982352256775,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12411493808031081,
+              -0.44379982352256775,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12441796231804295,
+              -0.4420325080589517,
+              0.8036766188053944
+            ],
+            "closest_button": [
+              0.12413730472326277,
+              -0.4437749385833741,
+              0.7686690092086792
+            ],
+            "closest_ee_minus_button": [
+              0.00028065759478017316,
+              0.001742430524422356,
+              0.03500760959671523
+            ],
+            "button_min_z_position": [
+              0.12413730472326277,
+              -0.4437749385833741,
+              0.7686690092086792
+            ],
+            "min_active_finger_to_button": 0.14488990585021042,
+            "closest_active_finger": [
+              -0.001724235713481903,
+              -0.5068252086639404,
+              0.8108030557632446
+            ],
+            "closest_active_finger_button": [
+              0.12411607801914214,
+              -0.4437972307205201,
+              0.7763825058937073
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12584031373262405,
+              -0.06302797794342035,
+              0.034420549869537354
+            ],
+            "min_contact_pad_to_button": 0.020934204961447933,
+            "closest_contact_pad": [
+              0.12413730472326277,
+              -0.4437749385833741,
+              0.7896032141701271
+            ],
+            "closest_contact_pad_button": [
+              0.12413730472326277,
+              -0.4437749385833741,
+              0.7686690092086792
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020934204961447933
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d91c37f782242ba84d171c110ac7301f297da99b15b41b80e60004e87b28728",
+    "visual_seed": 7078229820482464595,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a64594f172b2026ad64dbee52b66f055f762930f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3512447584743347,
+              -0.049920585146331374,
+              1.0474363236201694
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+            "current_z": 1.0474363236201694,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1908498162116038,
+            "gripper_z": 1.0497838096657606,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3465001625906785,
+              -0.05438010304169068,
+              1.0497838096657606
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+              0.004744595883656166,
+              0.004459517895359304,
+              -0.002347486045591207
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+            "object_to_gripper_xy": 0.006511412285997325,
+            "object_to_gripper_z": -0.002347486045591207,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3512447584743347,
+              -0.07438855545772749,
+              1.0474363236201694
+            ],
+            "finger_b": [
+              0.3403515805691693,
+              -0.049920585146331374,
+              1.0474363236201694
+            ],
+            "finger_midpoint": [
+              0.345798169521752,
+              -0.062154570302029435,
+              1.0474363236201694
+            ],
+            "object_minus_finger_midpoint": [
+              0.005446588952582654,
+              0.012233985155698061,
+              0.0
+            ],
+            "finger_gap": 0.026783257756160743,
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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_top_z": 1.093866195211366,
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+            "object_to_finger_line_xy": 0.009951513591323072,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050546934098078186,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5638778378336844,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3510093013363499,
+              -0.05226541611161718,
+              1.2402891184488014
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+            "held_position": [
+              0.35586963950360484,
+              -0.04795954072115372,
+              1.23787941561981
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006926046325453138,
+            "max_held_gripper_dist": 0.006928119377465553,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024097028289913336,
+            "max_held_gripper_z_dist": 0.0024142467876051565,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08664890996882754,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35586963950360484,
+              -0.07289627977979644,
+              1.23787941561981
+            ],
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+              -0.04795954072115372,
+              1.23787941561981
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+            "held_grasp_midpoint": [
+              0.35101908072974053,
+              -0.060427910250475086,
+              1.23787941561981
+            ],
+            "held_grasp_object_position": [
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+              -0.04795954072115372,
+              1.23787941561981
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+            "held_grasp_finger_gap": 0.026757291278335437,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02516552574590925,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.024345623254494058,
+              -0.9997035271660561,
+              0.00038522733134116477
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005152673519601052,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032853641845820715,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2684287426600349,
+              -0.38610991345538104,
+              0.8470196978719404
+            ],
+            "target_position": [
+              0.2626343258419797,
+              -0.38765877872628884,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005997853773541441,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18621784251292253,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196978719404,
+            "min_z": 0.5730800627579278,
+            "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": 0.0752510923178218,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08821911428802966,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15524673275497541,
+            "release_required_pad_clearance": 0.05410955714401483,
+            "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": 3.231841696143869,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00813978910446167,
+            "max_z_decrease": 0.00813978910446167,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035043003672991346,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00813978910446167,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020928148361357257,
+            "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": 0.00813978910446167,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008139853153138497,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11833424866199488,
+              -0.443920224905014,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11833424866199488,
+              -0.443920224905014,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11812714584521974,
+              -0.4422880753315463,
+              0.8036743538170984
+            ],
+            "closest_button": [
+              0.11835690587759012,
+              -0.4438972175121307,
+              0.768669068813324
+            ],
+            "closest_ee_minus_button": [
+              -0.00022976003237037967,
+              0.0016091421805843886,
+              0.03500528500377442
+            ],
+            "button_min_z_position": [
+              0.11835690587759012,
+              -0.4438972175121307,
+              0.768669068813324
+            ],
+            "min_active_finger_to_button": 0.14539308345791177,
+            "closest_active_finger": [
+              -0.009569704532623291,
+              -0.5039007067680359,
+              0.8111396431922913
+            ],
+            "closest_active_finger_button": [
+              0.11833803355693813,
+              -0.4439167380332946,
+              0.7767785787582397
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1279077380895614,
+              -0.059983968734741266,
+              0.034361064434051514
+            ],
+            "min_contact_pad_to_button": 0.020928148361357257,
+            "closest_contact_pad": [
+              0.11835690587759012,
+              -0.4438972175121307,
+              0.7895972171746812
+            ],
+            "closest_contact_pad_button": [
+              0.11835690587759012,
+              -0.4438972175121307,
+              0.768669068813324
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020928148361357257
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0da93671f5797058bff18a288578f6ce8028922e6ee837ac27e7ea7ecd55fe51",
+    "visual_seed": 6435898635677027811,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..78d21690fbc34266618d12540193889732be5c90
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              -0.0434359451504021,
+              1.0495688832466532
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+            "current_z": 1.0495688832466532,
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+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.19298243544273264,
+            "gripper_z": 1.0511689626542449,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3493238043699526,
+              -0.04794696339517436,
+              1.0511689626542449
+            ],
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+              0.0044303885604097815,
+              0.0045110182447722635,
+              -0.0016000794075916591
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+            "object_to_gripper_xy": 0.006322786442770157,
+            "object_to_gripper_z": -0.0016000794075916591,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35375419293036237,
+              -0.06738242218703064,
+              1.0495688832466532
+            ],
+            "finger_b": [
+              0.3423799838423206,
+              -0.0434359451504021,
+              1.0495688832466532
+            ],
+            "finger_midpoint": [
+              0.3480670883863415,
+              -0.05540918366871637,
+              1.0495688832466532
+            ],
+            "object_minus_finger_midpoint": [
+              0.005687104544020882,
+              0.01197323851831427,
+              0.0
+            ],
+            "finger_gap": 0.02651049593735036,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01325524796867518,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495688832466532,
+            "object_top_z": 1.0956588956333464,
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+            "fingertip_min_top_clearance": 0.01382700371600799,
+            "object_projection_between_fingers": 0.8159199555844129,
+            "object_to_finger_line_xy": 0.010274128306776098,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04953705333447135,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+              "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "94306e49014681818d98bc3d2091321312a4f54a9963ece7191212e08b873908",
+    "visual_seed": 5385471322448116215,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..770ecfc9a4a8c0d362c27653dc66acefb5626697
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              -0.05161457296319442,
+              1.045912355271537
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+            "lift_margin": 0.1893257882583267,
+            "gripper_z": 1.0473571797588428,
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+            "gripper_position": [
+              0.35181709858637333,
+              -0.05619312932919397,
+              1.0473571797588428
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+              0.004582408749930766,
+              0.004578556365999555,
+              -0.0014448244873057625
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+            "object_to_gripper_z": -0.0014448244873057625,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.07573043420120715,
+              1.045912355271537
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+              1.045912355271537
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+              -0.06367250358220078,
+              1.045912355271537
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+              0.012057930619006361,
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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": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.055650054560424086,
+              1.2379979153493224
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+              -0.05148373201670428,
+              1.236449728088101
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "max_held_gripper_dist": 0.0066371687218169315,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001548187261221301,
+            "max_held_gripper_z_dist": 0.0015488281186786246,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0874534463237644,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              -0.06415952853866588,
+              1.236449728088101
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+            "held_grasp_object_position": [
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+              -0.05148373201670428,
+              1.236449728088101
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024924508331497206,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9989764401436758,
+              -0.00013529543814772005
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003856167620518978,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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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+            "gripper_away_ok": true,
+            "object_z": 0.8470194901404537,
+            "min_z": 0.5730800627579278,
+            "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": 0.07549061893091723,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08713511127692929,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15306632134125844,
+            "release_required_pad_clearance": 0.053567555638464645,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.145298203627343,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008118748664855957,
+            "max_z_decrease": 0.008118748664855957,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035056506322224686,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008118748664855957,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020970759486099274,
+            "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": 0.008118748664855957,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008118790318617905,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12028104066848756,
+              -0.44529491662979126,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12028104066848756,
+              -0.44529491662979126,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12105215198887592,
+              -0.444682461984184,
+              0.8037334754015132
+            ],
+            "closest_button": [
+              0.1202962026000023,
+              -0.4452737867832184,
+              0.7686901092529297
+            ],
+            "closest_ee_minus_button": [
+              0.0007559493888736196,
+              0.0005913247990343984,
+              0.0350433661485835
+            ],
+            "button_min_z_position": [
+              0.1202962026000023,
+              -0.4452737867832184,
+              0.7686901092529297
+            ],
+            "min_active_finger_to_button": 0.14498105448931606,
+            "closest_active_finger": [
+              -0.006126902997493744,
+              -0.5074044466018677,
+              0.8107846975326538
+            ],
+            "closest_active_finger_button": [
+              0.1202821508049965,
+              -0.44529226422309875,
+              0.7763996124267578
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12640905380249023,
+              -0.06211218237876892,
+              0.034385085105895996
+            ],
+            "min_contact_pad_to_button": 0.020970759486099274,
+            "closest_contact_pad": [
+              0.1202962026000023,
+              -0.44589537926471656,
+              0.7896516544300097
+            ],
+            "closest_contact_pad_button": [
+              0.1202962026000023,
+              -0.4452737867832184,
+              0.7686901092529297
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006215924814981788,
+              0.020961545177080043
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af99ce096a0d92d2967b8cb69dd98aa48e02d1f812963ac1b0dd902f09efb127",
+    "visual_seed": 5691682774860740149,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bda9b092cd731815878bac7bea011e8f712b5e02
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3559535770443029,
+              -0.05073646057058779,
+              1.0485311527041936
+            ],
+            "current_z": 1.0485311527041936,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19194464529562805,
+            "gripper_z": 1.0504136988133912,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3513747920670861,
+              -0.05510134298527897,
+              1.0504136988133912
+            ],
+            "object_minus_gripper": [
+              0.00457878497721681,
+              0.004364882414691178,
+              -0.0018825461091975804
+            ],
+            "object_to_gripper_xy": 0.006325936322922215,
+            "object_to_gripper_z": -0.0018825461091975804,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3559535770443029,
+              -0.07506755913453447,
+              1.0485311527041936
+            ],
+            "finger_b": [
+              0.3451547160329479,
+              -0.05073646057058779,
+              1.0485311527041936
+            ],
+            "finger_midpoint": [
+              0.3505541465386254,
+              -0.06290200985256113,
+              1.0485311527041936
+            ],
+            "object_minus_finger_midpoint": [
+              0.005399430505677538,
+              0.012165549281973338,
+              0.0
+            ],
+            "finger_gap": 0.026619875215166806,
+            "fingertip_max_gap": 0.09670690542928997,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013309937607583412,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485311527041936,
+            "object_top_z": 1.0952452212473665,
+            "finger_top_clearance": 0.04671406854317284,
+            "fingertip_min_top_clearance": 0.014014220562951818,
+            "object_projection_between_fingers": 0.8354325754927261,
+            "object_to_finger_line_xy": 0.009870375030756624,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05085345271464499,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.964845791080763,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
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+      1159376154734467498,
+      6013251277256419500
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+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa75e392712d21d682d92772a6e7787aa66297cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+              1.049083148735335
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+              1.0506113608716392
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+              0.004367638755916475,
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+            "object_to_gripper_xy": 0.00615860107600709,
+            "object_to_gripper_z": -0.0015282121363042744,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.07200057589265706,
+              1.049083148735335
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+              -0.04793072218295924,
+              1.049083148735335
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+              -0.05996564903780815,
+              1.049083148735335
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+              0.012034926854848908,
+              0.0
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
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+              "failed_keys": []
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              -0.051792248069632785,
+              1.2426105910917737
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+              -0.0477757069834409,
+              1.2409940924504308
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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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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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "failed_keys": []
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+      },
+      "physical_semantics": {
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15486436527154182,
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 1.2455076617771565,
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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": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+                "wheel",
+                "workbench"
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+            "source_missing": false,
+            "forbidden": [],
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+          }
+        },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.008241832256317139,
+            "max_z_decrease": 0.008241832256317139,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502535655926797,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008241832256317139,
+            "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": 0.021114784474079433,
+            "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": 0.008241832256317139,
+            "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": 0.00824191906516288,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12046527862548825,
+              -0.44142273068428034,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12046527862548825,
+              -0.44142273068428034,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11990420363219656,
+              -0.44309628357806274,
+              0.8036157330217738
+            ],
+            "closest_button": [
+              0.12049246579408641,
+              -0.4414003491401672,
+              0.7686364054679871
+            ],
+            "closest_ee_minus_button": [
+              -0.0005882621618898548,
+              -0.0016959344378955632,
+              0.03497932755378674
+            ],
+            "button_min_z_position": [
+              0.12049467116594312,
+              -0.44139891862869257,
+              0.7685670256614685
+            ],
+            "min_active_finger_to_button": 0.14621328725717633,
+            "closest_active_finger": [
+              -0.020893879234790802,
+              -0.42705535888671875,
+              0.811102569103241
+            ],
+            "closest_active_finger_button": [
+              0.12046694755554196,
+              -0.4414204359054565,
+              0.7766194343566895
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14136082679033277,
+              0.014365077018737737,
+              0.034483134746551514
+            ],
+            "min_contact_pad_to_button": 0.021114784474079433,
+            "closest_contact_pad": [
+              0.12049467116594312,
+              -0.4442798444152043,
+              0.7894843483868901
+            ],
+            "closest_contact_pad_button": [
+              0.12049467116594312,
+              -0.44139891862869257,
+              0.7685670256614685
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028809257865117233,
+              0.020917322725421572
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bc77ec386b72ee7f916b0e1eed35eab3b0d4993cb2e1eb06161eec4094fcd8ec",
+    "visual_seed": 1799291765330426286,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa568ba5be589f315b3448469976e06ccd7a541
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3568667403010059,
+              -0.047611637744741045,
+              1.0466761949100005
+            ],
+            "current_z": 1.0466761949100005,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19008962789679018,
+            "gripper_z": 1.0481864591820682,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35246236627503313,
+              -0.052085820045084996,
+              1.0481864591820682
+            ],
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+              0.004404374025972768,
+              0.004474182300343951,
+              -0.001510264272067685
+            ],
+            "object_to_gripper_xy": 0.006278281438210194,
+            "object_to_gripper_z": -0.001510264272067685,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3568667403010059,
+              -0.07158671539421081,
+              1.0466761949100005
+            ],
+            "finger_b": [
+              0.3456087773514537,
+              -0.047611637744741045,
+              1.0466761949100005
+            ],
+            "finger_midpoint": [
+              0.35123775882622976,
+              -0.05959917656947593,
+              1.0466761949100005
+            ],
+            "object_minus_finger_midpoint": [
+              0.00562898147477614,
+              0.011987538824734884,
+              0.0
+            ],
+            "finger_gap": 0.026486715124220205,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013243357562110114,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0466761949100005,
+            "object_top_z": 1.0935674750271842,
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+            "object_projection_between_fingers": 0.8193394080088406,
+            "object_to_finger_line_xy": 0.01019041185834155,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05045813960876351,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.806406883130377,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35758415683038924,
+              -0.05103295208611901,
+              1.237732868026567
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+            "held_position": [
+              0.36229224344960603,
+              -0.04691345135648688,
+              1.2361334547403624
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006457126972235818,
+            "max_held_gripper_dist": 0.006458046910006442,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015994132862044985,
+            "max_held_gripper_z_dist": 0.0016007398959558827,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08771430212232711,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36229224344960603,
+              -0.07201609956779977,
+              1.2361334547403624
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+            "held_grasp_finger_b": [
+              0.3533748817687218,
+              -0.04691345135648688,
+              1.2361334547403624
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+            "held_grasp_midpoint": [
+              0.3578335626091639,
+              -0.05946477546214332,
+              1.2361334547403624
+            ],
+            "held_grasp_object_position": [
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+              -0.04691345135648688,
+              1.2361334547403624
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+            "held_grasp_finger_gap": 0.026639487355589877,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02477752927498393,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.034690228007577366,
+              -0.9993716349661491,
+              0.007274840607756294
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040216383981148155,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032502115018382904,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2675126178061972,
+              -0.38851242033798483,
+              0.8470188897076809
+            ],
+            "target_position": [
+              0.2632925071434003,
+              -0.3893521787116972,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004302851163179118,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1858409661573628,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470188897076809,
+            "min_z": 0.5730800627579278,
+            "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": 0.07551747159752144,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08699482530728518,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15400057230185046,
+            "release_required_pad_clearance": 0.05349741265364259,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0030283589601123,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008053362369537354,
+            "max_z_decrease": 0.008053362369537354,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516334426436101,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008053362369537354,
+            "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": 0.021209226235458168,
+            "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": 0.008053362369537354,
+            "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": 0.008053374635899594,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11899243295192716,
+              -0.4456136226654052,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11899243295192716,
+              -0.4456136226654052,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1172031709932187,
+              -0.44738703108171984,
+              0.806571101740316
+            ],
+            "closest_button": [
+              0.11898149549961087,
+              -0.44560679793357844,
+              0.771497905254364
+            ],
+            "closest_ee_minus_button": [
+              -0.001778324506392176,
+              -0.001780233148141408,
+              0.035073196485951974
+            ],
+            "button_min_z_position": [
+              0.11898633837699886,
+              -0.44560095667839045,
+              0.7687554955482483
+            ],
+            "min_active_finger_to_button": 0.1475856364285765,
+            "closest_active_finger": [
+              -0.02370234578847885,
+              -0.43047377467155457,
+              0.8110094666481018
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+            "closest_active_finger_button": [
+              0.11899387091398235,
+              -0.44561365246772766,
+              0.7765117287635803
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1426962167024612,
+              0.015139877796173096,
+              0.034497737884521484
+            ],
+            "min_contact_pad_to_button": 0.021209226235458168,
+            "closest_contact_pad": [
+              0.11898633837699886,
+              -0.4486072471829654,
+              0.7897505781846408
+            ],
+            "closest_contact_pad_button": [
+              0.11898633837699886,
+              -0.44560095667839045,
+              0.7687554955482483
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00300629050457496,
+              0.020995082636392493
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fcaebdc26e0da32fcd605663b78bc662607db0f300689c02cced3697176164fb",
+    "visual_seed": 8350070530189347522,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cc9cab338a825d2ba6cea788bc3c2abb5563a3d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.36005442741022264,
+              -0.04817525640351074,
+              1.0465478686205705
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+            "current_z": 1.0465478686205705,
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+            "lift_margin": 0.18996130160736013,
+            "gripper_z": 1.0478698393723798,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3556371084586919,
+              -0.05270325925227841,
+              1.0478698393723798
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+              0.0044173189515307465,
+              0.0045280028487676705,
+              -0.0013219707518092871
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+            "object_to_gripper_xy": 0.006325781889853683,
+            "object_to_gripper_z": -0.0013219707518092871,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36005442741022264,
+              -0.07206913504407368,
+              1.0465478686205705
+            ],
+            "finger_b": [
+              0.3485939078659036,
+              -0.04817525640351074,
+              1.0465478686205705
+            ],
+            "finger_midpoint": [
+              0.3543241676380631,
+              -0.06012219572379221,
+              1.0465478686205705
+            ],
+            "object_minus_finger_midpoint": [
+              0.005730259772159518,
+              0.011946939320281472,
+              0.0
+            ],
+            "finger_gap": 0.026500206503264623,
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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": 1.0927144553435177,
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+            "object_to_finger_line_xy": 0.010333363368924112,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04961690650348062,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.484117001864357,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e39906db3ee0abb3d25d2122c3d5374c080a708ae987911a315aa888874f3ea",
+    "visual_seed": 7436220721922603808,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e98d7f6d3a74a935e709c553328a193fec4dfd08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              -0.047018059350044224,
+              1.0470276343867189
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+            "lift_margin": 0.1904411865827983,
+            "gripper_z": 1.048317368793861,
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+            "gripper_position": [
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+              -0.05157249421579101,
+              1.048317368793861
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+              0.004554434865746783,
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+            "object_to_gripper_z": -0.0012897344071420846,
+            "fingertip_source": "active_contact_pad_positions",
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+              1.0470276343867189
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+              1.0470276343867189
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+            "finger_midpoint": [
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+              -0.058978852318157554,
+              1.0470276343867189
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+            "object_minus_finger_midpoint": [
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+              0.01196079296811333,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05017217505614248,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02479399258321444,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.0036936310918466325,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+        },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
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+          "passed": true,
+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08670676973631274,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15314888083145586,
+            "release_required_pad_clearance": 0.05335338486815637,
+            "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": 1.7200549842738992,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008154988288879395,
+            "max_z_decrease": 0.008154988288879395,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035017486486870204,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008154988288879395,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02101809463163737,
+            "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": 0.008154988288879395,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008155076765255675,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11837096512317655,
+              -0.443527489900589,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11837096512317655,
+              -0.443527489900589,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11655979114387927,
+              -0.4446194500022806,
+              0.80360511457984
+            ],
+            "closest_button": [
+              0.11840374767780301,
+              -0.44350829720497137,
+              0.7686538696289062
+            ],
+            "closest_ee_minus_button": [
+              -0.0018439565339237463,
+              -0.0011111527973092228,
+              0.03495124495093371
+            ],
+            "button_min_z_position": [
+              0.11840374767780301,
+              -0.44350829720497137,
+              0.7686538696289062
+            ],
+            "min_active_finger_to_button": 0.14739861681334224,
+            "closest_active_finger": [
+              -0.02397356927394867,
+              -0.42694687843322754,
+              0.8111830949783325
+            ],
+            "closest_active_finger_button": [
+              0.11837552487850185,
+              -0.4435283839702607,
+              0.7767136693000793
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1423490941524505,
+              0.016581505537033137,
+              0.034469425678253174
+            ],
+            "min_contact_pad_to_button": 0.02101809463163737,
+            "closest_contact_pad": [
+              0.11840374767780301,
+              -0.4459484679776876,
+              0.7895298335238847
+            ],
+            "closest_contact_pad_button": [
+              0.11840374767780301,
+              -0.44350829720497137,
+              0.7686538696289062
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024401707727162436,
+              0.020875963894978478
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "00fc80f626181ec12501146fe69c3c1e40a948eaf625a9e07ab5f34f3fa66904",
+    "visual_seed": 4591749810932536132,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fb181f5a6dae2fe3f95060cad68a72193e226aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35762775638116096,
+              -0.04799094684750468,
+              1.0472290650771456
+            ],
+            "current_z": 1.0472290650771456,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.1906426768778695,
+            "gripper_z": 1.0488909721729434,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3529759051601107,
+              -0.0525472710152254,
+              1.0488909721729434
+            ],
+            "object_minus_gripper": [
+              0.004651851221050274,
+              0.00455632416772072,
+              -0.0016619070957977211
+            ],
+            "object_to_gripper_xy": 0.0065115136261965105,
+            "object_to_gripper_z": -0.0016619070957977211,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35762775638116096,
+              -0.0722208103475247,
+              1.0472290650771456
+            ],
+            "finger_b": [
+              0.346339592698486,
+              -0.04799094684750468,
+              1.0472290650771456
+            ],
+            "finger_midpoint": [
+              0.3519836745398235,
+              -0.06010587859751469,
+              1.0472290650771456
+            ],
+            "object_minus_finger_midpoint": [
+              0.005644081841337467,
+              0.012114931750010015,
+              0.0
+            ],
+            "finger_gap": 0.026730299746850275,
+            "fingertip_max_gap": 0.09360186551720936,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013365149873425141,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472290650771456,
+            "object_top_z": 1.093174394392506,
+            "finger_top_clearance": 0.04594532931536044,
+            "fingertip_min_top_clearance": 0.013783598794608132,
+            "object_projection_between_fingers": 0.8216640339293735,
+            "object_to_finger_line_xy": 0.010232233375135463,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049300932758604685,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3119092481880297,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2763274517158154,
+              -0.3828394255696592,
+              0.8470195007865088
+            ],
+            "target_position": [
+              0.27062666319899725,
+              -0.3840702530051095,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005832145907754954,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18632125732254384,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195007865088,
+            "min_z": 0.5730800627579278,
+            "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": 0.07537070728125334,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08691311134872624,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15495954798243905,
+            "release_required_pad_clearance": 0.053456555674363124,
+            "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": 1.9265423914987694,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008089780807495117,
+            "max_z_decrease": 0.008089780807495117,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035079065962747645,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008089780807495117,
+            "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": 0.021043437090806406,
+            "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": 0.008089780807495117,
+            "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": 0.008089803755214028,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12632659077644345,
+              -0.44033169746398926,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12632659077644345,
+              -0.44033169746398926,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12545333423741858,
+              -0.4408856620664919,
+              0.8037823989002051
+            ],
+            "closest_button": [
+              0.12633551657199857,
+              -0.4403146207332611,
+              0.7687190771102905
+            ],
+            "closest_ee_minus_button": [
+              -0.000882182334579984,
+              -0.0005710413332307707,
+              0.03506332178991456
+            ],
+            "button_min_z_position": [
+              0.12633551657199857,
+              -0.4403146207332611,
+              0.7687190771102905
+            ],
+            "min_active_finger_to_button": 0.1466278868033121,
+            "closest_active_finger": [
+              -0.015543386340141296,
+              -0.4268074333667755,
+              0.8109925389289856
+            ],
+            "closest_active_finger_button": [
+              0.1263276189565658,
+              -0.44032990932464594,
+              0.7765034437179565
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1418710052967071,
+              0.013522475957870428,
+              0.03448909521102905
+            ],
+            "min_contact_pad_to_button": 0.021043437090806406,
+            "closest_contact_pad": [
+              0.12633551657199857,
+              -0.441889410927012,
+              0.7897035065864615
+            ],
+            "closest_contact_pad_button": [
+              0.12633551657199857,
+              -0.4403146207332611,
+              0.7687190771102905
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015747901937508968,
+              0.020984429476170963
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f869c56eb0b6750116f3e1c5b20a6e77b3944ef96bde13dfcb641410c1fd9900",
+    "visual_seed": 293873874165233148,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfb50dc01a61acbec9758f883644e3b57cee939b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+              -0.051220762164562214,
+              1.0485729430732416
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+              0.00443744898003369,
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+            "object_to_gripper_z": -0.0012404545913513587,
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+              1.0485729430732416
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+              -0.06315033027842169,
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+              0.011929568113859479,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/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/target_beaker/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_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2422124001525352
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+              -0.05104783367304478,
+              1.240882251138
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+            "required_gripper_z": 0.8930800627579277,
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+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.006298649824759828,
+            "max_held_gripper_dist": 0.00630010348004662,
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+            "max_held_gripper_z_dist": 0.0013309395252503187,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9988305140641652,
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+            "held_grasp_object_to_finger_line_xy": 0.003739859627490263,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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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+            "gripper_away_ok": true,
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+            "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": 0.1537860777672406,
+            "release_required_pad_clearance": 0.05380452093496088,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6158174440888153,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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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+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
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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
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.008117139339447021,
+            "max_z_decrease": 0.008117139339447021,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035060382767703846,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008117139339447021,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020938199556764896,
+            "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": 0.008117139339447021,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008117189174814108,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12017651647329329,
+              -0.4475854635238648,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12017651647329329,
+              -0.4475854635238648,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11834762897816772,
+              -0.4469024263473971,
+              0.8036971364363183
+            ],
+            "closest_button": [
+              0.12019518762826918,
+              -0.4475640058517456,
+              0.7686917185783386
+            ],
+            "closest_ee_minus_button": [
+              -0.001847558650101458,
+              0.0006615795043485306,
+              0.035005417857979726
+            ],
+            "button_min_z_position": [
+              0.12019518762826918,
+              -0.4475640058517456,
+              0.7686917185783386
+            ],
+            "min_active_finger_to_button": 0.1472559006995645,
+            "closest_active_finger": [
+              -0.00843898206949234,
+              -0.5104818940162659,
+              0.8108443021774292
+            ],
+            "closest_active_finger_button": [
+              0.12017748504877089,
+              -0.44758534431457525,
+              0.776404082775116
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12861646711826324,
+              -0.06289654970169062,
+              0.03444021940231323
+            ],
+            "min_contact_pad_to_button": 0.020938199556764896,
+            "closest_contact_pad": [
+              0.12019518762826918,
+              -0.44803443540934657,
+              0.7896246327736972
+            ],
+            "closest_contact_pad_button": [
+              0.12019518762826918,
+              -0.4475640058517456,
+              0.7686917185783386
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00047042955760095984,
+              0.020932914195358587
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a5e8c00fbea64d3f3b5046f996c7abb2fdb56e1526e15df06f71b266559f765",
+    "visual_seed": 6639514758963096234,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69da09abb9d197470af09a83320093ee6cf87d63
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3554344799382527,
+              -0.052914211050557894,
+              1.0479502911915288
+            ],
+            "current_z": 1.0479502911915288,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19136384338760803,
+            "gripper_z": 1.049511028722027,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35111099730482276,
+              -0.057338185202022204,
+              1.049511028722027
+            ],
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+              0.004323482633429965,
+              0.0044239741514643105,
+              -0.0015607375304982352
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+            "object_to_gripper_xy": 0.006185794158747515,
+            "object_to_gripper_z": -0.0015607375304982352,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3554344799382527,
+              -0.0768437106991169,
+              1.0479502911915288
+            ],
+            "finger_b": [
+              0.34426247302468144,
+              -0.052914211050557894,
+              1.0479502911915288
+            ],
+            "finger_midpoint": [
+              0.3498484764814671,
+              -0.0648789608748374,
+              1.0479502911915288
+            ],
+            "object_minus_finger_midpoint": [
+              0.005586003456785615,
+              0.011964749824279503,
+              0.0
+            ],
+            "finger_gap": 0.026408988846740613,
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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": 1.0943706109404703,
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+            "fingertip_min_top_clearance": 0.013926095924682436,
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+            "object_to_finger_line_xy": 0.010123088659829471,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04983155175788938,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3617055839163794,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.356427994639635,
+              -0.05665790982758273,
+              1.2405658341370531
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+            "held_position": [
+              0.36108051938220903,
+              -0.052618570038528094,
+              1.2389156057568527
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006378519116419007,
+            "max_held_gripper_dist": 0.006380049854321314,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001650228380200458,
+            "max_held_gripper_z_dist": 0.001650432458640383,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0873990846018634,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36108051938220903,
+              -0.07780354347039212,
+              1.2389156057568527
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+              -0.052618570038528094,
+              1.2389156057568527
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+            "held_grasp_midpoint": [
+              0.356744999232489,
+              -0.06521105675446011,
+              1.2389156057568527
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+            "held_grasp_object_position": [
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+              -0.052618570038528094,
+              1.2389156057568527
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+            "held_grasp_finger_gap": 0.02663587480519855,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024735713645050218,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04838018741878449,
+              -0.9988186117372109,
+              0.004553933758239204
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037216655566731393,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03241286158848292,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27399003932427185,
+              -0.38617349415002766,
+              0.8470195812853012
+            ],
+            "target_position": [
+              0.2687242910194913,
+              -0.3873031708477112,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005385561683853266,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18637312571035328,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195812853012,
+            "min_z": 0.5730800627579278,
+            "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": 0.07521116594009872,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08579599669848885,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1553860107150005,
+            "release_required_pad_clearance": 0.05289799834924443,
+            "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": 0.835556947787154,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008128464221954346,
+            "max_z_decrease": 0.008128464221954346,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506030728797816,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008128464221954346,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021122952636097033,
+            "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": 0.008128464221954346,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008128520041429691,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12442421913146971,
+              -0.44356462359428406,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12442421913146971,
+              -0.44356462359428406,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12438300665576937,
+              -0.4450951579072286,
+              0.8037063085500983
+            ],
+            "closest_button": [
+              0.1244460642337799,
+              -0.4435438811779022,
+              0.7686803936958313
+            ],
+            "closest_ee_minus_button": [
+              -6.30575780105197e-05,
+              -0.0015512767293263674,
+              0.03502591485426698
+            ],
+            "button_min_z_position": [
+              0.1244460642337799,
+              -0.4435438811779022,
+              0.7686803936958313
+            ],
+            "min_active_finger_to_button": 0.14563998440122006,
+            "closest_active_finger": [
+              -0.01612604409456253,
+              -0.4269863963127136,
+              0.8107491135597229
+            ],
+            "closest_active_finger_button": [
+              0.12442431598901747,
+              -0.4435634911060333,
+              0.7763717770576477
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14055036008358002,
+              0.016577094793319702,
+              0.034377336502075195
+            ],
+            "min_contact_pad_to_button": 0.021122952636097033,
+            "closest_contact_pad": [
+              0.1244460642337799,
+              -0.44645590190033824,
+              0.789601657122759
+            ],
+            "closest_contact_pad_button": [
+              0.1244460642337799,
+              -0.4435438811779022,
+              0.7686803936958313
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002912020722436015,
+              0.020921263426927683
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1cc29cbb5a7f467e40c939ee3c686a06519af48550b90e94757847834cd380d",
+    "visual_seed": 4805398089686033994,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d9e30556ca200a8cc6c6ef1754fac52155a12a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              -0.04536700556954949,
+              1.04807410080046
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+            "lift_margin": 0.1914877126011839,
+            "gripper_z": 1.0495946848077498,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3499708845558379,
+              -0.04986238649062395,
+              1.0495946848077498
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+              0.0044260293745744805,
+              0.00449538092107446,
+              -0.001520584007289827
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+            "object_to_gripper_z": -0.001520584007289827,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3543969139304124,
+              -0.06935473955109028,
+              1.04807410080046
+            ],
+            "finger_b": [
+              0.34310087082453855,
+              -0.04536700556954949,
+              1.04807410080046
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+            "finger_midpoint": [
+              0.3487488923774755,
+              -0.05736087256031989,
+              1.04807410080046
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+              0.0056480215529369215,
+              0.011993866990770395,
+              0.0
+            ],
+            "finger_gap": 0.026514372921472736,
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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": 1.0947249924931395,
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+            "object_projection_between_fingers": 0.8184944282069381,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5891001327292336,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6d15b821b978bb37f17735919e1c63c2410cc363ad52ec0540a100978390e155",
+    "visual_seed": 1402577984896692805,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..099da21254e55a26328b219ce8872db3fd1bcaae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0491067976967574
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+              -0.06320567667097438,
+              1.0461526206934109
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+              0.012215473958904738,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.1501659734153417,
+            "release_required_pad_clearance": 0.05523276061052118,
+            "release_pad_clearance_ok": true,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.566525926142027,
+            "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": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008037924766540527,
+            "max_z_decrease": 0.008037924766540527,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511271103629874,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008037924766540527,
+            "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": 0.021100385549802883,
+            "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": 0.008037924766540527,
+            "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": 0.008037945441527715,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11881369352340695,
+              -0.43877437710762013,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11881369352340695,
+              -0.43877437710762013,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11958094100966038,
+              -0.4389892802168824,
+              0.8078101014511485
+            ],
+            "closest_button": [
+              0.11880344897508617,
+              -0.4387694895267486,
+              0.7727066874504089
+            ],
+            "closest_ee_minus_button": [
+              0.0007774920345742092,
+              -0.00021979069013378094,
+              0.035103414000739575
+            ],
+            "button_min_z_position": [
+              0.11879678815603253,
+              -0.4387675523757934,
+              0.7687709331512451
+            ],
+            "min_active_finger_to_button": 0.14542265147266722,
+            "closest_active_finger": [
+              -0.021338820457458496,
+              -0.4208892583847046,
+              0.81077641248703
+            ],
+            "closest_active_finger_button": [
+              0.11881396174430843,
+              -0.4387721419334411,
+              0.7763504385948181
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1401527822017669,
+              0.017882883548736517,
+              0.034425973892211914
+            ],
+            "min_contact_pad_to_button": 0.021100385549802883,
+            "closest_contact_pad": [
+              0.11879678815603253,
+              -0.4402278251346083,
+              0.7898207282528653
+            ],
+            "closest_contact_pad_button": [
+              0.11879678815603253,
+              -0.4387675523757934,
+              0.7687709331512451
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014602727588148845,
+              0.021049795101620195
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bf5196902db5cdd6662ea59dcb28ce1dcc9e577d2a0c367c7e3fa8d9a0b4b3b7",
+    "visual_seed": 8181389924672359935,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a515e99bc10983354c513c9f12ef3e652f32b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35980293737552194,
+              -0.05122951535225382,
+              1.0489675641058902
+            ],
+            "current_z": 1.0489675641058902,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.1923811163019693,
+            "gripper_z": 1.0502618660356688,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3555256220065086,
+              -0.05567798047140787,
+              1.0502618660356688
+            ],
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+              0.004277315369013324,
+              0.004448465119154053,
+              -0.0012943019297786407
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+            "object_to_gripper_xy": 0.006171245310496729,
+            "object_to_gripper_z": -0.0012943019297786407,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35980293737552194,
+              -0.0750521687280994,
+              1.0489675641058902
+            ],
+            "finger_b": [
+              0.34849990926162494,
+              -0.05122951535225382,
+              1.0489675641058902
+            ],
+            "finger_midpoint": [
+              0.3541514233185734,
+              -0.06314084204017661,
+              1.0489675641058902
+            ],
+            "object_minus_finger_midpoint": [
+              0.005651514056948526,
+              0.011911326687922795,
+              0.0
+            ],
+            "finger_gap": 0.02636811063404492,
+            "fingertip_max_gap": 0.09544281858316286,
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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": 1.0955043046455593,
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+            "fingertip_min_top_clearance": 0.013961022161900715,
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+            "object_to_finger_line_xy": 0.010211885280363722,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050221409291581434,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8934772241717965,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3610485604096176,
+              -0.05513115095892193,
+              1.2417915800705892
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+            "held_position": [
+              0.36570017768969604,
+              -0.051111136498508083,
+              1.2403996234764727
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
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+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.2664129195217965,
+              -0.38507874463242037,
+              0.8470195366924217
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+              0.26219534364027886,
+              -0.3857032976361046,
+              0.8084375599031817
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004263568079762598,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18211871798673435,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195366924217,
+            "min_z": 0.5730800627579278,
+            "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": 0.0757956150438586,
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+            "release_fingertip_min_gap": 0.08539813202018821,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1497579242223114,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4528387688416782,
+            "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": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008064746856689453,
+            "max_z_decrease": 0.008064746856689453,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351565216050849,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008064746856689453,
+            "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": 0.021017399281579308,
+            "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": 0.008064746856689453,
+            "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": 0.008064756340722762,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11789526790380475,
+              -0.44196474552154535,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11789526790380475,
+              -0.44196474552154535,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11662180218372484,
+              -0.44023440121140184,
+              0.8074289907295527
+            ],
+            "closest_button": [
+              0.1178857162594795,
+              -0.4419591426849364,
+              0.7723375558853149
+            ],
+            "closest_ee_minus_button": [
+              -0.0012639140757546574,
+              0.0017247414735345745,
+              0.03509143484423771
+            ],
+            "button_min_z_position": [
+              0.11789270490407942,
+              -0.4419526457786559,
+              0.7687441110610962
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+            "min_active_finger_to_button": 0.14659347659935057,
+            "closest_active_finger": [
+              -0.011493802070617676,
+              -0.5016708374023438,
+              0.8106437921524048
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+            "closest_active_finger_button": [
+              0.11789631098508832,
+              -0.4419643878936767,
+              0.7762492299079895
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.129390113055706,
+              -0.05970644950866705,
+              0.03439456224441528
+            ],
+            "min_contact_pad_to_button": 0.021017399281579308,
+            "closest_contact_pad": [
+              0.11789270490407942,
+              -0.4419526457786559,
+              0.7897615103426755
+            ],
+            "closest_contact_pad_button": [
+              0.11789270490407942,
+              -0.4419526457786559,
+              0.7687441110610962
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021017399281579308
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e168c12ee97122702a73c55e59655af63887b85e21e575b2ff0664d4e70a9d7b",
+    "visual_seed": 3325404203948933974,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b846bd2ba4a1fd12dd7a86946f1b54d2ad7dc957
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035060950811496315,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008155345916748047,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021115338324971072,
+            "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": 0.008155345916748047,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008155401415663111,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1196036711335182,
+              -0.43878969550132746,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1196036711335182,
+              -0.43878969550132746,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12090608901786726,
+              -0.4403346678590947,
+              0.8036555150428345
+            ],
+            "closest_button": [
+              0.11961764842271802,
+              -0.4387630522251129,
+              0.7686535120010376
+            ],
+            "closest_ee_minus_button": [
+              0.0012884405951492373,
+              -0.0015716156339817822,
+              0.0350020030417969
+            ],
+            "button_min_z_position": [
+              0.11961764842271802,
+              -0.4387630522251129,
+              0.7686535120010376
+            ],
+            "min_active_finger_to_button": 0.14439267705329126,
+            "closest_active_finger": [
+              -0.01980201154947281,
+              -0.4236915409564972,
+              0.8112195730209351
+            ],
+            "closest_active_finger_button": [
+              0.11960692703723905,
+              -0.4387858211994171,
+              0.7767731547355652
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13940893858671186,
+              0.015094280242919922,
+              0.03444641828536987
+            ],
+            "min_contact_pad_to_button": 0.021115338324971072,
+            "closest_contact_pad": [
+              0.11961764842271802,
+              -0.44156801066180057,
+              0.7895817159551863
+            ],
+            "closest_contact_pad_button": [
+              0.11961764842271802,
+              -0.4387630522251129,
+              0.7686535120010376
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028049584366876545,
+              0.02092820395414874
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "47cb7397d117ac7ddb74ec6f06d16b950a4ce8b7f48013c678d46c66c7f2b9bb",
+    "visual_seed": 6139129329787105606,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1028980b2842a6c58b3198040ed37ac3e61d9e46
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35885735485807696,
+              -0.046284194221379964,
+              1.048679522192865
+            ],
+            "current_z": 1.048679522192865,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19209301478429952,
+            "gripper_z": 1.050009052779252,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35451422033301905,
+              -0.05075138442123893,
+              1.050009052779252
+            ],
+            "object_minus_gripper": [
+              0.004343134525057912,
+              0.0044671901998589655,
+              -0.0013295305863869622
+            ],
+            "object_to_gripper_xy": 0.006230457911298816,
+            "object_to_gripper_z": -0.0013295305863869622,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35885735485807696,
+              -0.07016242812227826,
+              1.048679522192865
+            ],
+            "finger_b": [
+              0.34753566618446663,
+              -0.046284194221379964,
+              1.048679522192865
+            ],
+            "finger_midpoint": [
+              0.35319651052127177,
+              -0.058223311171829106,
+              1.048679522192865
+            ],
+            "object_minus_finger_midpoint": [
+              0.005660844336805193,
+              0.011939116950449143,
+              0.0
+            ],
+            "finger_gap": 0.026426325674375636,
+            "fingertip_max_gap": 0.09384913974115136,
+            "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": 1.048679522192865,
+            "object_top_z": 1.0946719560133449,
+            "finger_top_clearance": 0.045992433820479794,
+            "fingertip_min_top_clearance": 0.013797730146143938,
+            "object_projection_between_fingers": 0.8164523404848607,
+            "object_to_finger_line_xy": 0.01023002341047192,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04942456987057568,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2886366085474363,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3599498069815621,
+              -0.050141737435925385,
+              1.2410987312749149
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+            "held_position": [
+              0.3646551656434736,
+              -0.046092616787349,
+              1.2396694721641206
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0063701302788672885,
+            "max_held_gripper_dist": 0.00637147707308503,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014292591107942787,
+            "max_held_gripper_z_dist": 0.0014299535982686962,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08734373344904868,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3646551656434736,
+              -0.0713272789588592,
+              1.2396694721641206
+            ],
+            "held_grasp_finger_b": [
+              0.355993385230186,
+              -0.046092616787349,
+              1.2396694721641206
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+            "held_grasp_midpoint": [
+              0.36032427543682977,
+              -0.0587099478731041,
+              1.2396694721641206
+            ],
+            "held_grasp_object_position": [
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+              -0.046092616787349,
+              1.2396694721641206
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+            "held_grasp_finger_gap": 0.026679854100767883,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02472168978900735,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.054837985234168336,
+              -0.998495014681027,
+              0.0007078365581599798
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036324755374123495,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03236438548490162,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26780092788159876,
+              -0.382348847395691,
+              0.8470201390412914
+            ],
+            "target_position": [
+              0.2623424296852003,
+              -0.3837393319437984,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00563281899572593,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18503058345591486,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201390412914,
+            "min_z": 0.5730800627579278,
+            "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": 0.07549574310862918,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08657496130420232,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15334229901370522,
+            "release_required_pad_clearance": 0.05328748065210116,
+            "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": 1.5904917058095087,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008077740669250488,
+            "max_z_decrease": 0.008077740669250488,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035073103612470354,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008077740669250488,
+            "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": 0.021084722576386675,
+            "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": 0.008077740669250488,
+            "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": 0.008077751967395871,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11804235726594925,
+              -0.4400008022785186,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11804235726594925,
+              -0.4400008022785186,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11689050589464689,
+              -0.44096343022835616,
+              0.8037716299275341
+            ],
+            "closest_button": [
+              0.11804493516683578,
+              -0.43998754024505615,
+              0.7687311172485352
+            ],
+            "closest_ee_minus_button": [
+              -0.001154429272188895,
+              -0.0009758899833000045,
+              0.03504051267899899
+            ],
+            "button_min_z_position": [
+              0.11804493516683578,
+              -0.43998754024505615,
+              0.7687311172485352
+            ],
+            "min_active_finger_to_button": 0.14680618090949718,
+            "closest_active_finger": [
+              -0.023675359785556793,
+              -0.4232390224933624,
+              0.8106765151023865
+            ],
+            "closest_active_finger_button": [
+              0.11804321408271791,
+              -0.4399991333484649,
+              0.7762236595153809
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1417185738682747,
+              0.016760110855102484,
+              0.034452855587005615
+            ],
+            "min_contact_pad_to_button": 0.021084722576386675,
+            "closest_contact_pad": [
+              0.11804493516683578,
+              -0.44229171000187295,
+              0.7896895601261671
+            ],
+            "closest_contact_pad_button": [
+              0.11804493516683578,
+              -0.43998754024505615,
+              0.7687311172485352
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023041697568167985,
+              0.020958442877631933
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18a9cc3bbc27c6cf347cbcff43979b2681ee82708904fa34a97ca52f88957b1c",
+    "visual_seed": 1038688106935986800,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb0cecc4b74f0d0a3c2bda491c4c93f9ecfa9842
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35411381527755814,
+              -0.04583409676473093,
+              1.04817431184759
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+            "current_z": 1.04817431184759,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19158774483437957,
+            "gripper_z": 1.0499622043955066,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3495638916512789,
+              -0.05039003202621459,
+              1.0499622043955066
+            ],
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+              0.004549923626279262,
+              0.004555935261483658,
+              -0.0017878925479166696
+            ],
+            "object_to_gripper_xy": 0.006438815971264002,
+            "object_to_gripper_z": -0.0017878925479166696,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35411381527755814,
+              -0.06990927569513367,
+              1.04817431184759
+            ],
+            "finger_b": [
+              0.34273211070248544,
+              -0.04583409676473093,
+              1.04817431184759
+            ],
+            "finger_midpoint": [
+              0.3484229629900218,
+              -0.0578716862299323,
+              1.04817431184759
+            ],
+            "object_minus_finger_midpoint": [
+              0.005690852287536352,
+              0.012037589465201372,
+              0.0
+            ],
+            "finger_gap": 0.026630010130774245,
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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": 1.04817431184759,
+            "object_top_z": 1.0953487239896496,
+            "finger_top_clearance": 0.04717441214205964,
+            "fingertip_min_top_clearance": 0.01415232364261789,
+            "object_projection_between_fingers": 0.817328012361165,
+            "object_to_finger_line_xy": 0.010289766050866036,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05097595413472082,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.4264835906785724,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ed3743bdb3a8fcedcff3a02880121fee25eb391f679c02e24ab28fcb275565f3",
+    "visual_seed": 3081873801656268979,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ee389bed7fe51e11da26393e72d3328ab28c672
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              -0.04216157134884143,
+              1.0458445959620628
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+            "lift_margin": 0.1892582077627868,
+            "gripper_z": 1.0477613648124582,
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+            "gripper_position": [
+              0.3524883303439316,
+              -0.046550704230546594,
+              1.0477613648124582
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+              0.004389132881705164,
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+            "object_to_gripper_z": -0.0019167688503953784,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.06649977274602387,
+              1.0458445959620628
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+              1.0458445959620628
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+            "finger_midpoint": [
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+              -0.05433067204743265,
+              1.0458445959620628
+            ],
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+              0.012169100698591222,
+              0.0
+            ],
+            "finger_gap": 0.02662805825447375,
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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": 0.04925388414640751,
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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": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
+                {
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+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.044795934049317795,
+              1.2393437499450892
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+            "held_position": [
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+              -0.040629664826466176,
+              1.2373475263110605
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019962236340287376,
+            "max_held_gripper_z_dist": 0.002000672621855104,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08709126099099183,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              -0.06565558826550336,
+              1.2373475263110605
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+              -0.05314262654598477,
+              1.2373475263110605
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+            "held_grasp_object_position": [
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+              -0.040629664826466176,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025095741576414334,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.999920333773574,
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+            "held_grasp_object_to_finger_line_xy": 0.0047232106950429766,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08780306419565119,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15601975959624684,
+            "release_required_pad_clearance": 0.0539015320978256,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.812504500236427,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.007979273796081543,
+            "max_z_decrease": 0.007979273796081543,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511720671454735,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007979273796081543,
+            "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": 0.021072178451081433,
+            "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": 0.007979273796081543,
+            "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": 0.007979298940878345,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11726509779691695,
+              -0.44377025961875916,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11726509779691695,
+              -0.44377025961875916,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11534732263184477,
+              -0.44458763864153217,
+              0.8070165907206475
+            ],
+            "closest_button": [
+              0.11725439131259915,
+              -0.44376251101493835,
+              0.7719609141349792
+            ],
+            "closest_ee_minus_button": [
+              -0.0019070686807543813,
+              -0.0008251276265938134,
+              0.035055676585668216
+            ],
+            "button_min_z_position": [
+              0.11724592745304105,
+              -0.44376444816589355,
+              0.7688295841217041
+            ],
+            "min_active_finger_to_button": 0.1479011287717612,
+            "closest_active_finger": [
+              -0.025952473282814026,
+              -0.4308750629425049,
+              0.8111908435821533
+            ],
+            "closest_active_finger_button": [
+              0.11726674437522887,
+              -0.4437693655490875,
+              0.7765969634056091
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1432192176580429,
+              0.012894302606582642,
+              0.03459388017654419
+            ],
+            "min_contact_pad_to_button": 0.021072178451081433,
+            "closest_contact_pad": [
+              0.11724592745304105,
+              -0.4454652781059048,
+              0.7898330096087379
+            ],
+            "closest_contact_pad_button": [
+              0.11724592745304105,
+              -0.44376444816589355,
+              0.7688295841217041
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017008299400112503,
+              0.021003425487033822
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e6d7db470c35a2ce97d94c11f0c0622cd4dde518d6ea1a1f19689df1d2e2a737",
+    "visual_seed": 5900220676953238532,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bea0d453a4b8d38e18e2b8b9342b5b739dc4bc6b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3527983805768176,
+              -0.05129020839927162,
+              1.0463090431237225
+            ],
+            "current_z": 1.0463090431237225,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18972259531980173,
+            "gripper_z": 1.0488803800930209,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34805543602251077,
+              -0.0558571957054978,
+              1.0488803800930209
+            ],
+            "object_minus_gripper": [
+              0.004742944554306849,
+              0.004566987306226178,
+              -0.0025713369692983434
+            ],
+            "object_to_gripper_xy": 0.00658429161720986,
+            "object_to_gripper_z": -0.0025713369692983434,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3527983805768176,
+              -0.07563731161438604,
+              1.0463090431237225
+            ],
+            "finger_b": [
+              0.34160283904871247,
+              -0.05129020839927162,
+              1.0463090431237225
+            ],
+            "finger_midpoint": [
+              0.347200609812765,
+              -0.06346376000682882,
+              1.0463090431237225
+            ],
+            "object_minus_finger_midpoint": [
+              0.005597770764052601,
+              0.012173551607557204,
+              0.0
+            ],
+            "finger_gap": 0.02679779067525832,
+            "fingertip_max_gap": 0.09722582668512078,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013398895337629167,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463090431237225,
+            "object_top_z": 1.093035643626779,
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+            "fingertip_min_top_clearance": 0.014017980150916947,
+            "object_projection_between_fingers": 0.825461101974197,
+            "object_to_finger_line_xy": 0.01017169692968534,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05111291334256039,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.8516239229889506,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3526247040548042,
+              -0.0540017111503813,
+              1.239800457871845
+            ],
+            "held_position": [
+              0.3575415560053839,
+              -0.049637043245702575,
+              1.2371650973813695
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.34785755356989767,
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+              0.3526995547876408,
+              -0.0621700837122806,
+              1.2371650973813695
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+              0.3575415560053839,
+              -0.049637043245702575,
+              1.2371650973813695
+            ],
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02521377938426792,
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              0.001589206993502179
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+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
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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": [
+                {
+                  "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2726540581629076,
+              -0.38340898634554577,
+              0.8470194197636054
+            ],
+            "target_position": [
+              0.2681740851803699,
+              -0.3855671401234207,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004972704058480024,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18451196167785477,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194197636054,
+            "min_z": 0.5730800627579278,
+            "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": 0.07553750943475362,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08871000147781598,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15313288257114513,
+            "release_required_pad_clearance": 0.05435500073890799,
+            "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": 3.7322701267115055,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008142292499542236,
+            "max_z_decrease": 0.008142292499542236,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034998469523527566,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008142292499542236,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02100603289411223,
+            "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": 0.008142292499542236,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008142376294362874,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12387400865554807,
+              -0.4418286085128784,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12387400865554807,
+              -0.4418286085128784,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1237470121881506,
+              -0.44281960991820507,
+              0.8036499589158901
+            ],
+            "closest_button": [
+              0.12390170991420744,
+              -0.44180417060852045,
+              0.7686665654182434
+            ],
+            "closest_ee_minus_button": [
+              -0.00015469772605684884,
+              -0.0010154393096846182,
+              0.034983393497646675
+            ],
+            "button_min_z_position": [
+              0.12390170991420744,
+              -0.44180417060852045,
+              0.7686665654182434
+            ],
+            "min_active_finger_to_button": 0.14589088056025643,
+            "closest_active_finger": [
+              -0.017334170639514923,
+              -0.4295049011707306,
+              0.8109225034713745
+            ],
+            "closest_active_finger_button": [
+              0.12387534230947492,
+              -0.44182634353637695,
+              0.7763941884040833
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14120951294898984,
+              0.012321442365646362,
+              0.03452831506729126
+            ],
+            "min_contact_pad_to_button": 0.02100603289411223,
+            "closest_contact_pad": [
+              0.12390170991420744,
+              -0.44375644309874196,
+              0.7895816807674938
+            ],
+            "closest_contact_pad_button": [
+              0.12390170991420744,
+              -0.44180417060852045,
+              0.7686665654182434
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019522724902215072,
+              0.02091511534925039
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6bad9b4017c6ec6a13ac8fe51d5c82a4d7ae7537748380192cd41cc51fdd7580",
+    "visual_seed": 4072691129416346661,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4d39f1259c2938a3d824f3bb8776de44901a751
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
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+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            "source_missing": false,
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
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+            },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
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+            "max_placed_release_frames": 148
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+          "failure_messages": {},
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+                "heater_platform"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+            "forbidden": [],
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    {
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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,
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+            "max_z_decrease_with_ee_contact": 0.008208096027374268,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02093439517247453,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.008208096027374268,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008208133597729868,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12260777503252027,
+              -0.43972083926200867,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12260777503252027,
+              -0.43972083926200867,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12226250762581722,
+              -0.43783890411852006,
+              0.8035973568021333
+            ],
+            "closest_button": [
+              0.12262077629566188,
+              -0.4396996796131134,
+              0.7686007618904114
+            ],
+            "closest_ee_minus_button": [
+              -0.00035826866984466077,
+              0.0018607754945933475,
+              0.03499659491172191
+            ],
+            "button_min_z_position": [
+              0.12262077629566188,
+              -0.4396996796131134,
+              0.7686007618904114
+            ],
+            "min_active_finger_to_button": 0.14539868191111846,
+            "closest_active_finger": [
+              -0.004037216305732727,
+              -0.5022987723350525,
+              0.8105253577232361
+            ],
+            "closest_active_finger_button": [
+              0.12260855734348294,
+              -0.4397178292274475,
+              0.7760978937149048
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12664577364921567,
+              -0.06258094310760498,
+              0.0344274640083313
+            ],
+            "min_contact_pad_to_button": 0.02093439517247453,
+            "closest_contact_pad": [
+              0.12262077629566188,
+              -0.4396996796131134,
+              0.7895351570628859
+            ],
+            "closest_contact_pad_button": [
+              0.12262077629566188,
+              -0.4396996796131134,
+              0.7686007618904114
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02093439517247453
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "828541361413e1cb6c2d69b344d68567fa36cae98821ff59d452d0e9475cd85a",
+    "visual_seed": 5292475847212348526,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..96ab6d5827bb7562176e05a4153ea1d9aa1eaf94
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35419684163503923,
+              -0.05235210659875225,
+              1.0481994304180797
+            ],
+            "current_z": 1.0481994304180797,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.19161292300951438,
+            "gripper_z": 1.0496300570225727,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3499436360767161,
+              -0.056790777193776884,
+              1.0496300570225727
+            ],
+            "object_minus_gripper": [
+              0.004253205558323148,
+              0.0044386705950246325,
+              -0.0014306266044930016
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+            "object_to_gripper_xy": 0.006147483564230753,
+            "object_to_gripper_z": -0.0014306266044930016,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35419684163503923,
+              -0.07613295091119593,
+              1.0481994304180797
+            ],
+            "finger_b": [
+              0.34287633781666954,
+              -0.05235210659875225,
+              1.0481994304180797
+            ],
+            "finger_midpoint": [
+              0.3485365897258544,
+              -0.06424252875497409,
+              1.0481994304180797
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056602519091848436,
+              0.011890422156221839,
+              0.0
+            ],
+            "finger_gap": 0.026337850385223308,
+            "fingertip_max_gap": 0.09378431080010188,
+            "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": 1.0481994304180797,
+            "object_top_z": 1.0942533810387274,
+            "finger_top_clearance": 0.046053950620647655,
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+            "object_projection_between_fingers": 0.815255780522799,
+            "object_to_finger_line_xy": 0.010221454481118664,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049392155400050944,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1199400173912686,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35534867368674794,
+              -0.056506461812270856,
+              1.241117848987127
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+            "held_position": [
+              0.3599847254056904,
+              -0.05250439876524603,
+              1.2395949308862357
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006311003384176975,
+            "max_held_gripper_dist": 0.0063120508515694795,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001522918100891335,
+            "max_held_gripper_z_dist": 0.001523321049385462,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08761949963566837,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3599847254056904,
+              -0.07774182871951534,
+              1.2395949308862357
+            ],
+            "held_grasp_finger_b": [
+              0.3514477185590489,
+              -0.05244400853772826,
+              1.2395949308862357
+            ],
+            "held_grasp_midpoint": [
+              0.35571622198236963,
+              -0.0650929186286218,
+              1.2395949308862357
+            ],
+            "held_grasp_object_position": [
+              0.3599847254056904,
+              -0.05250439876524603,
+              1.2395949308862357
+            ],
+            "held_grasp_finger_gap": 0.026699441789101833,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024701043497490086,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06385390988912054,
+              -0.9979581079311359,
+              0.0015142676049205719
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034560200031546473,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032364848868348645,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27264102636070287,
+              -0.3813589022699472,
+              0.8470195553945359
+            ],
+            "target_position": [
+              0.2674324700501417,
+              -0.3825586522693158,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005344947043822932,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185202124955477,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195553945359,
+            "min_z": 0.5730800627579278,
+            "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": 0.07547983333157773,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588348169381095,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15365148334655762,
+            "release_required_pad_clearance": 0.05294174084690548,
+            "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": 0.9202534887219589,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00820833444595337,
+            "max_z_decrease": 0.00820833444595337,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035034286623824934,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00820833444595337,
+            "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": 0.020949494051542804,
+            "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": 0.00820833444595337,
+            "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": 0.008208366918917458,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12313239276409145,
+              -0.4388201236724853,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12313239276409145,
+              -0.4388201236724853,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12439994279922453,
+              -0.4381499227823873,
+              0.8036061485729526
+            ],
+            "closest_button": [
+              0.12314020842313762,
+              -0.43879839777946467,
+              0.7686005234718323
+            ],
+            "closest_ee_minus_button": [
+              0.00125973437608691,
+              0.0006484749970773751,
+              0.035005625101120375
+            ],
+            "button_min_z_position": [
+              0.12314020842313762,
+              -0.43879839777946467,
+              0.7686005234718323
+            ],
+            "min_active_finger_to_button": 0.14452622466329407,
+            "closest_active_finger": [
+              -0.0017684400081634521,
+              -0.5028689503669739,
+              0.8104888200759888
+            ],
+            "closest_active_finger_button": [
+              0.12313342839479442,
+              -0.43881693482398987,
+              0.7760694622993469
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12490186840295787,
+              -0.06405201554298401,
+              0.034419357776641846
+            ],
+            "min_contact_pad_to_button": 0.020949494051542804,
+            "closest_contact_pad": [
+              0.12314020842313762,
+              -0.4391660814719657,
+              0.7895467906743172
+            ],
+            "closest_contact_pad_button": [
+              0.12314020842313762,
+              -0.43879839777946467,
+              0.7686005234718323
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003676836925010085,
+              0.020946267202484936
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b282faff44b5773b049433c3a3d4968119250eedffc6b4f9258fe3b15900bb29",
+    "visual_seed": 8755891819612428319,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3786235809d16ede4b1fe981cfb2a333f4ee32ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35167359566636214,
+              -0.04807342832797349,
+              1.048090290425188
+            ],
+            "current_z": 1.048090290425188,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1915038426212673,
+            "gripper_z": 1.0497500934920325,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3472329721849285,
+              -0.05255943637272803,
+              1.0497500934920325
+            ],
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+              0.004440623481433648,
+              0.00448600804475454,
+              -0.0016598030668444341
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+            "object_to_gripper_xy": 0.006312163264797762,
+            "object_to_gripper_z": -0.0016598030668444341,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35167359566636214,
+              -0.07212208117383254,
+              1.048090290425188
+            ],
+            "finger_b": [
+              0.34045395439944176,
+              -0.04807342832797349,
+              1.048090290425188
+            ],
+            "finger_midpoint": [
+              0.346063775032902,
+              -0.06009775475090301,
+              1.048090290425188
+            ],
+            "object_minus_finger_midpoint": [
+              0.005609820633460161,
+              0.01202432642292952,
+              0.0
+            ],
+            "finger_gap": 0.026537107111722393,
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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": 1.048090290425188,
+            "object_top_z": 1.0942319101872495,
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+            "fingertip_min_top_clearance": 0.01384248592861843,
+            "object_projection_between_fingers": 0.8212480502756581,
+            "object_to_finger_line_xy": 0.01016754602328354,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04945698366378755,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.091557613880841,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c316202481eae1d12bb3aa9018f8805edeffd4f8dc063576e7133168e7976038",
+    "visual_seed": 518708302383017701,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aab28e8199ed326878f77737dcf2ea701ef9b445
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
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+              -0.048849932485220814,
+              1.0466531752687522
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+            "lift_margin": 0.19006672746483144,
+            "gripper_z": 1.0479949868269813,
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+            "gripper_position": [
+              0.353208722544162,
+              -0.05334711083229825,
+              1.0479949868269813
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+              0.004497178347077434,
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+            "object_to_gripper_z": -0.0013418115582291001,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.07268560850929631,
+              1.0466531752687522
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+            "finger_b": [
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+              1.0466531752687522
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+            "finger_midpoint": [
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+              -0.060767770497258566,
+              1.0466531752687522
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+              0.011917838012037753,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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/target_beaker/mesh"
+                },
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.04872359497940536,
+              1.2360853859999328
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_z_dist": 0.0014426228602981706,
+            "max_held_gripper_z_dist": 0.0014432303396039181,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08735310291140042,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
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+              -0.061340463556459994,
+              1.2360853859999328
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+            "held_grasp_object_position": [
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+              -0.04872359497940536,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9983345550284572,
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+            "held_grasp_object_to_finger_line_xy": 0.0035952240171446812,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08579499612366788,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15432423136272067,
+            "release_required_pad_clearance": 0.05289749806183394,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8327408339393296,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008211076259613037,
+            "max_z_decrease": 0.008211076259613037,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503578741123542,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008211076259613037,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021144575057067808,
+            "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": 0.008211076259613037,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008211161837465442,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11856722831726073,
+              -0.44171497225761414,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11856722831726073,
+              -0.44171497225761414,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11798675027411998,
+              -0.44363274098324124,
+              0.8036438879990319
+            ],
+            "closest_button": [
+              0.11859426647424695,
+              -0.4416932165622711,
+              0.7686671018600464
+            ],
+            "closest_ee_minus_button": [
+              -0.0006075162001269729,
+              -0.001939524420970118,
+              0.03497678613898547
+            ],
+            "button_min_z_position": [
+              0.1185960844159126,
+              -0.44169104099273687,
+              0.7685977816581726
+            ],
+            "min_active_finger_to_button": 0.1461881537156172,
+            "closest_active_finger": [
+              -0.022740133106708527,
+              -0.4271065890789032,
+              0.811201274394989
+            ],
+            "closest_active_finger_button": [
+              0.1185718923807144,
+              -0.4417117536067963,
+              0.7767255306243896
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14131202548742294,
+              0.014605164527893122,
+              0.034475743770599365
+            ],
+            "min_contact_pad_to_button": 0.021144575057067808,
+            "closest_contact_pad": [
+              0.1185960844159126,
+              -0.44485938307385847,
+              0.7895036340158491
+            ],
+            "closest_contact_pad_button": [
+              0.1185960844159126,
+              -0.44169104099273687,
+              0.7685977816581726
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031683420811216,
+              0.020905852357676502
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3bfe7220241a0caf46d270be91803b9e352491bc755d6a9ca00ea86bcca13e6e",
+    "visual_seed": 3601655908756000270,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f936e5b3f663d844c81eaf381d479a008a0f8357
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3537342704519916,
+              -0.044537288376705626,
+              1.0482886505841442
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+            "current_z": 1.0482886505841442,
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+            "initial_z": 0.7565863285946314,
+            "lift_margin": 0.19170232198951287,
+            "gripper_z": 1.050583340350729,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3489075653596694,
+              -0.04910399263507943,
+              1.050583340350729
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+              0.004826705092322192,
+              0.004566704258373806,
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+            "object_to_gripper_xy": 0.006644687338897026,
+            "object_to_gripper_z": -0.0022946897665847565,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3537342704519916,
+              -0.06897446472193444,
+              1.0482886505841442
+            ],
+            "finger_b": [
+              0.34256800020833633,
+              -0.044537288376705626,
+              1.0482886505841442
+            ],
+            "finger_midpoint": [
+              0.34815113533016395,
+              -0.05675587654932003,
+              1.0482886505841442
+            ],
+            "object_minus_finger_midpoint": [
+              0.00558313512182762,
+              0.012218588172614404,
+              0.0
+            ],
+            "finger_gap": 0.02686747436738614,
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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_to_finger_line_xy": 0.010156225007659015,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05135325091537303,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.850549306782617,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35349418589702536,
+              -0.04690748838069987,
+              1.240798247424902
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+            "held_position": [
+              0.35846583185124126,
+              -0.04253231317308157,
+              1.238435255822603
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007031582389758675,
+            "max_held_gripper_dist": 0.007034981482953287,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002362991602298914,
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+                "beaker_b"
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+                "/World/target_beaker"
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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"
+              ],
+              "enabled": true
+            },
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2660548601696595,
+              -0.3891175225441754,
+              0.8470198248122719
+            ],
+            "target_position": [
+              0.2649565055665151,
+              -0.38876365736643703,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0011539512113882002,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17984630743371388,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198248122719,
+            "min_z": 0.5730800627579278,
+            "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": 0.07538117876246173,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08916274216078394,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14837501433242054,
+            "release_required_pad_clearance": 0.054581371080391974,
+            "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": 4.198381222296114,
+            "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": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008110880851745605,
+            "max_z_decrease": 0.008110880851745605,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035132783827984605,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008110880851745605,
+            "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": 0.02098342233017192,
+            "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": 0.008110880851745605,
+            "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": 0.00811091231027711,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12065643072128295,
+              -0.4450251162052154,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12065643072128295,
+              -0.4450251162052154,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1217647651149518,
+              -0.4430465238611619,
+              0.8037589368283538
+            ],
+            "closest_button": [
+              0.12066899240016936,
+              -0.44500634074211115,
+              0.76869797706604
+            ],
+            "closest_ee_minus_button": [
+              0.0010957727147824364,
+              0.001959816880949261,
+              0.035060959762313715
+            ],
+            "button_min_z_position": [
+              0.12066899240016936,
+              -0.44500634074211115,
+              0.76869797706604
+            ],
+            "min_active_finger_to_button": 0.1441096566879538,
+            "closest_active_finger": [
+              -0.00499127060174942,
+              -0.5066361427307129,
+              0.8108319640159607
+            ],
+            "closest_active_finger_button": [
+              0.12065753340721128,
+              -0.44502258300781244,
+              0.7764264345169067
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1256488040089607,
+              -0.061613559722900446,
+              0.034405529499053955
+            ],
+            "min_contact_pad_to_button": 0.02098342233017192,
+            "closest_contact_pad": [
+              0.12066899240016936,
+              -0.44500634074211115,
+              0.789681399396212
+            ],
+            "closest_contact_pad_button": [
+              0.12066899240016936,
+              -0.44500634074211115,
+              0.76869797706604
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02098342233017192
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "280defa7f6b9b8d4fca93c3c9172556de94ecce3f8eae3d5583cc651b5f5564f",
+    "visual_seed": 5853268112576886169,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dfdb275fbce5b2284aabc45a1bd9b3c19d7b782
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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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": 0.008197546005249023,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008197616633101043,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11923951655626294,
+              -0.44012635946273804,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11923951655626294,
+              -0.44012635946273804,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1179228514041677,
+              -0.4411888394464275,
+              0.8036562904530021
+            ],
+            "closest_button": [
+              0.11926250159740444,
+              -0.44010552763938904,
+              0.7686820030212402
+            ],
+            "closest_ee_minus_button": [
+              -0.0013396501932367438,
+              -0.0010833118070384673,
+              0.0349742874317619
+            ],
+            "button_min_z_position": [
+              0.11926475167274472,
+              -0.44010353088378906,
+              0.7686113119125366
+            ],
+            "min_active_finger_to_button": 0.14702708448713137,
+            "closest_active_finger": [
+              -0.02301645278930664,
+              -0.4263872504234314,
+              0.810648500919342
+            ],
+            "closest_active_finger_button": [
+              0.11923824250698085,
+              -0.44012564420700073,
+              0.7761257290840149
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14225469529628748,
+              0.013738393783569336,
+              0.03452277183532715
+            ],
+            "min_contact_pad_to_button": 0.021031124816106823,
+            "closest_contact_pad": [
+              0.11926475167274472,
+              -0.44226296752845734,
+              0.789531279513093
+            ],
+            "closest_contact_pad_button": [
+              0.11926475167274472,
+              -0.44010353088378906,
+              0.7686113119125366
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021594366446682778,
+              0.020919967600556366
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fd66aed24f4167b9a196c537d543e27a261b518a117fefbbac6972bdf8875f8f",
+    "visual_seed": 7437237529150539615,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c639dc47f3e4176f83bef361ecbcb1febcd3ede2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35910751075008857,
+              -0.04651466950370546,
+              1.0495137125538803
+            ],
+            "current_z": 1.0495137125538803,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19292726474995947,
+            "gripper_z": 1.0511025970024999,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3544428481577454,
+              -0.051124018486320685,
+              1.0511025970024999
+            ],
+            "object_minus_gripper": [
+              0.004664662592343161,
+              0.0046093489826152245,
+              -0.0015888844486195985
+            ],
+            "object_to_gripper_xy": 0.006557833113456122,
+            "object_to_gripper_z": -0.0015888844486195985,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35910751075008857,
+              -0.07078566661055018,
+              1.0495137125538803
+            ],
+            "finger_b": [
+              0.3478002398463704,
+              -0.04651466950370546,
+              1.0495137125538803
+            ],
+            "finger_midpoint": [
+              0.35345387529822947,
+              -0.05865016805712782,
+              1.0495137125538803
+            ],
+            "object_minus_finger_midpoint": [
+              0.005653635451859096,
+              0.012135498553422358,
+              0.0
+            ],
+            "finger_gap": 0.02677565453636076,
+            "fingertip_max_gap": 0.09464370550029325,
+            "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": 1.0495137125538803,
+            "object_top_z": 1.0955749849691898,
+            "finger_top_clearance": 0.04606127241530955,
+            "fingertip_min_top_clearance": 0.013818381724592899,
+            "object_projection_between_fingers": 0.8216654860446274,
+            "object_to_finger_line_xy": 0.01024956230361322,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049821852750146625,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7882887821529754,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35971326418173244,
+              -0.0500496467533139,
+              1.2413053898321593
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+            "held_position": [
+              0.3646646559442469,
+              -0.04578724033965718,
+              1.2396215537376192
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0067468283522225695,
+            "max_held_gripper_dist": 0.006748450584068677,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0016838360945401476,
+            "max_held_gripper_z_dist": 0.0016863678210474742,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08712787210465744,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3646646559442469,
+              -0.07108790698303787,
+              1.2396215537376192
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+              0.3555243452813528,
+              -0.04578724033965718,
+              1.2396215537376192
+            ],
+            "held_grasp_midpoint": [
+              0.36009450061279985,
+              -0.058437573661347525,
+              1.2396215537376192
+            ],
+            "held_grasp_object_position": [
+              0.3646646559442469,
+              -0.04578724033965718,
+              1.2396215537376192
+            ],
+            "held_grasp_finger_gap": 0.026901096847780984,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025049143101453362,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.026538110883985368,
+              -0.9996459791290238,
+              -0.001909209753995222
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004232899350132057,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03243308683719814,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                "floor",
+                "ground",
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+            },
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27637708861196914,
+              -0.3818320278104501,
+              0.8470195413700888
+            ],
+            "target_position": [
+              0.2703490657031396,
+              -0.3838124418415517,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006345005904170443,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856996894837394,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195413700888,
+            "min_z": 0.5730800627579278,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758300255287745,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15344223419573516,
+            "release_required_pad_clearance": 0.05453608562384234,
+            "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": 4.105806069347556,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008059680461883545,
+            "max_z_decrease": 0.008059680461883545,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515045017490366,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008059680461883545,
+            "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": 0.021100685794026984,
+            "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": 0.008059680461883545,
+            "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": 0.008059689193316366,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12604899704456327,
+              -0.4400739073753357,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12604899704456327,
+              -0.4400739073753357,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12742456537684071,
+              -0.4406824563621758,
+              0.8082447074607256
+            ],
+            "closest_button": [
+              0.12604385614395136,
+              -0.4400702118873596,
+              0.7731267213821411
+            ],
+            "closest_ee_minus_button": [
+              0.0013807092328893544,
+              -0.0006122444748161704,
+              0.03511798607858452
+            ],
+            "button_min_z_position": [
+              0.12604351341724393,
+              -0.44006338715553284,
+              0.7687491774559021
+            ],
+            "min_active_finger_to_button": 0.14479451877481828,
+            "closest_active_finger": [
+              -0.013517729938030243,
+              -0.42255401611328125,
+              0.8108479976654053
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+            "closest_active_finger_button": [
+              0.12604886293411252,
+              -0.4400724172592163,
+              0.7765008807182312
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13956659287214276,
+              0.01751840114593506,
+              0.03434711694717407
+            ],
+            "min_contact_pad_to_button": 0.021100685794026984,
+            "closest_contact_pad": [
+              0.12604351341724393,
+              -0.4418988485667383,
+              0.7897698820679323
+            ],
+            "closest_contact_pad_button": [
+              0.12604351341724393,
+              -0.44006338715553284,
+              0.7687491774559021
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018354614112054413,
+              0.021020704612030205
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c723a665cca6ff729dc8393ea66fbaf1347148a013b4f47c7ccec4f29c04855b",
+    "visual_seed": 6875718057019188595,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef12f3d52d51c8591697055619b8b3e8383ce1a0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35339547043949254,
+              -0.05326044846431155,
+              1.04720874006789
+            ],
+            "current_z": 1.04720874006789,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19062223265932443,
+            "gripper_z": 1.0488015338503642,
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+            "gripper_position": [
+              0.3491244494597005,
+              -0.05767977997382974,
+              1.0488015338503642
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+              0.0042710209797920395,
+              0.00441933150951819,
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+            "object_to_gripper_xy": 0.006145901984318012,
+            "object_to_gripper_z": -0.0015927937824742333,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35339547043949254,
+              -0.07710492263480687,
+              1.04720874006789
+            ],
+            "finger_b": [
+              0.34217032648842177,
+              -0.05326044846431155,
+              1.04720874006789
+            ],
+            "finger_midpoint": [
+              0.34778289846395716,
+              -0.06518268554955921,
+              1.04720874006789
+            ],
+            "object_minus_finger_midpoint": [
+              0.005612571975535385,
+              0.011922237085247658,
+              0.0
+            ],
+            "finger_gap": 0.026354559476297057,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013177279738148528,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04720874006789,
+            "object_top_z": 1.093590989380052,
+            "finger_top_clearance": 0.04638224931216195,
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+            "object_projection_between_fingers": 0.818585366534492,
+            "object_to_finger_line_xy": 0.010156028418616781,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04988194090935692,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.525498648888049,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
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+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8f7f8c4c62581ed8dbe19dba0e70806980ba6fef3bc3fc406dbe6bb1cba9a87",
+    "visual_seed": 728286096129547801,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8bf90179976dabba1316995937c0ea63e0a003d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              -0.05049673047675447,
+              1.04930839293053
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+            "lift_margin": 0.192722004731254,
+            "gripper_z": 1.0506980903570404,
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+            "gripper_position": [
+              0.352478892826809,
+              -0.05502208883744257,
+              1.0506980903570404
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+              0.004525358360688098,
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+              -0.0743432239929164,
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+              1.04930839293053
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+              -0.06241997723483544,
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+              0.011923246758080965,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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/target_beaker/mesh"
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+                {
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.054709693448591654,
+              1.24130129118607
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+              -0.05063700799654433,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014893249800427277,
+            "max_held_gripper_z_dist": 0.0014896765970267012,
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+              -0.06328381318729945,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_object_to_finger_line_xy": 0.0035306987096216324,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15374221556758447,
+            "release_required_pad_clearance": 0.0526898732465559,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4352117542377521,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008110880851745605,
+            "max_z_decrease": 0.008110880851745605,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507997901289509,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008110880851745605,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02116911106139847,
+            "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": 0.008110880851745605,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008110915669661312,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11948750913143155,
+              -0.43876239657402033,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11948750913143155,
+              -0.43876239657402033,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11816079421460976,
+              -0.4407215126295768,
+              0.803696462972852
+            ],
+            "closest_button": [
+              0.11950249224901198,
+              -0.43874394893646235,
+              0.76869797706604
+            ],
+            "closest_ee_minus_button": [
+              -0.0013416980344022195,
+              -0.0019775636931144702,
+              0.03499848590681198
+            ],
+            "button_min_z_position": [
+              0.11950249224901198,
+              -0.43874394893646235,
+              0.76869797706604
+            ],
+            "min_active_finger_to_button": 0.1469219437791996,
+            "closest_active_finger": [
+              -0.02265409380197525,
+              -0.42491427063941956,
+              0.8107154965400696
+            ],
+            "closest_active_finger_button": [
+              0.11948858201503752,
+              -0.43876069784164423,
+              0.7762221097946167
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1421426758170128,
+              0.013846427202224676,
+              0.03449338674545288
+            ],
+            "min_contact_pad_to_button": 0.02116911106139847,
+            "closest_contact_pad": [
+              0.11950249224901198,
+              -0.441880170105694,
+              0.7896334823120924
+            ],
+            "closest_contact_pad_button": [
+              0.11950249224901198,
+              -0.43874394893646235,
+              0.76869797706604
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003136221169231679,
+              0.020935505246052366
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b365b270d10d34e682401f57d957dbffdbbdd1365ec1ed6927a19ee2bfd94f88",
+    "visual_seed": 8837370980290055100,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84b61d18a5a5aa72b21eb589355a811be693fc5d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3537838808953915,
+              -0.04363807244679494,
+              1.0463792358168402
+            ],
+            "current_z": 1.0463792358168402,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18979272840827466,
+            "gripper_z": 1.048065692614664,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3492028459340044,
+              -0.04819837817003511,
+              1.048065692614664
+            ],
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+              0.004581034961387065,
+              0.00456030572324017,
+              -0.0016864567978238654
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+            "object_to_gripper_xy": 0.006463920606479294,
+            "object_to_gripper_z": -0.0016864567978238654,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3537838808953915,
+              -0.06780611374449813,
+              1.0463792358168402
+            ],
+            "finger_b": [
+              0.34248464641283105,
+              -0.04363807244679494,
+              1.0463792358168402
+            ],
+            "finger_midpoint": [
+              0.34813426365411126,
+              -0.05572209309564653,
+              1.0463792358168402
+            ],
+            "object_minus_finger_midpoint": [
+              0.005649617241280214,
+              0.012084020648851591,
+              0.0
+            ],
+            "finger_gap": 0.026678960250717594,
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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": 1.0463792358168402,
+            "object_top_z": 1.0925930186479,
+            "finger_top_clearance": 0.04621378283105981,
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+            "object_projection_between_fingers": 0.8206256903857891,
+            "object_to_finger_line_xy": 0.010235794912570019,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049669477739978554,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.324794318242769,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3544999901809407,
+              -0.04753777285445744,
+              1.2383276833271148
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+            "held_position": [
+              0.3593926586456759,
+              -0.04336104876709879,
+              1.2365364593038837
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006677702622095158,
+            "max_held_gripper_dist": 0.006680246087999362,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001791224023231175,
+            "max_held_gripper_z_dist": 0.001791725953537826,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0873035263716289,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3593926586456759,
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+                "beaker_b"
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+                "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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2666815950512517,
+              -0.3837985079663402,
+              0.8470194540692977
+            ],
+            "target_position": [
+              0.2611862897246587,
+              -0.3853245122506041,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0057032508017860846,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185663227571605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194540692977,
+            "min_z": 0.5730800627579278,
+            "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": 0.07555777883809378,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08770441138714109,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15391404623143073,
+            "release_required_pad_clearance": 0.05385220569357055,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.713346824021468,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.0081138014793396,
+            "max_z_decrease": 0.0081138014793396,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503066551459283,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0081138014793396,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02098925754337908,
+            "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": 0.0081138014793396,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008113842601183772,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11688621342182155,
+              -0.4415859580039978,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11688621342182155,
+              -0.4415859580039978,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11599538397960032,
+              -0.44153720045757167,
+              0.8037139288152849
+            ],
+            "closest_button": [
+              0.11690379679203029,
+              -0.44156703352928156,
+              0.768695056438446
+            ],
+            "closest_ee_minus_button": [
+              -0.0009084128124299679,
+              2.983307170989491e-05,
+              0.03501887237683887
+            ],
+            "button_min_z_position": [
+              0.11690379679203029,
+              -0.44156703352928156,
+              0.768695056438446
+            ],
+            "min_active_finger_to_button": 0.1466847625988992,
+            "closest_active_finger": [
+              -0.010738059878349304,
+              -0.50515216588974,
+              0.8106864094734192
+            ],
+            "closest_active_finger_button": [
+              0.11688788235187526,
+              -0.441583514213562,
+              0.7762326002120972
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12762594223022455,
+              -0.06356865167617798,
+              0.03445380926132202
+            ],
+            "min_contact_pad_to_button": 0.02098925754337908,
+            "closest_contact_pad": [
+              0.11690379679203029,
+              -0.4426618965173239,
+              0.7896557388524256
+            ],
+            "closest_contact_pad_button": [
+              0.11690379679203029,
+              -0.44156703352928156,
+              0.768695056438446
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010948629880423444,
+              0.020960682413979526
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c5161ba67ba4cea9b1a5f5eeb5ce7b130a602c53f93026db872722011af4f84",
+    "visual_seed": 4931587124200453579,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaf8dca44d90192b9a3545d8fab481c31f8eaeae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3590352753597855,
+              -0.0521618248649617,
+              1.048460406046413
+            ],
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+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008109674757279473,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12313828617334367,
+              -0.44429224729537964,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12313828617334367,
+              -0.44429224729537964,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12113552070295669,
+              -0.4451453838209815,
+              0.8037080809612803
+            ],
+            "closest_button": [
+              0.12315306812524796,
+              -0.44426941871643066,
+              0.7686992287635803
+            ],
+            "closest_ee_minus_button": [
+              -0.002017547422291266,
+              -0.0008759651045508465,
+              0.0350088521977
+            ],
+            "button_min_z_position": [
+              0.12315306812524796,
+              -0.44426941871643066,
+              0.7686992287635803
+            ],
+            "min_active_finger_to_button": 0.14768572091832305,
+            "closest_active_finger": [
+              -0.019727006554603577,
+              -0.42972806096076965,
+              0.8109191656112671
+            ],
+            "closest_active_finger_button": [
+              0.12313877046108247,
+              -0.4442918300628662,
+              0.7764468789100647
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14286577701568604,
+              0.014563769102096558,
+              0.03447228670120239
+            ],
+            "min_contact_pad_to_button": 0.021028638486685024,
+            "closest_contact_pad": [
+              0.12315306812524796,
+              -0.44626868648034473,
+              0.7896326127473481
+            ],
+            "closest_contact_pad_button": [
+              0.12315306812524796,
+              -0.44426941871643066,
+              0.7686992287635803
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00199926776391407,
+              0.02093338398376776
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c02d4b41a95955edd091e59d2e2d27d7ceaaa61aecd59c647568ebd92de3bd6c",
+    "visual_seed": 288941025437331119,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..381ab88b469e565ea7deab75f73ea9724db25afc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3576057293407055,
+              -0.04672466729996386,
+              1.0486240289336648
+            ],
+            "current_z": 1.0486240289336648,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19203752152509923,
+            "gripper_z": 1.0506356836604265,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3529975182289011,
+              -0.05111830767311161,
+              1.0506356836604265
+            ],
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+              0.004608211111804428,
+              0.004393640373147753,
+              -0.0020116547267616802
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+            "object_to_gripper_xy": 0.006367078245122462,
+            "object_to_gripper_z": -0.0020116547267616802,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3576057293407055,
+              -0.07110322498542271,
+              1.0486240289336648
+            ],
+            "finger_b": [
+              0.34680200122586957,
+              -0.04672466729996386,
+              1.0486240289336648
+            ],
+            "finger_midpoint": [
+              0.3522038652832875,
+              -0.05891394614269328,
+              1.0486240289336648
+            ],
+            "object_minus_finger_midpoint": [
+              0.005401864057417993,
+              0.012189278842729426,
+              0.0
+            ],
+            "finger_gap": 0.026665232344806996,
+            "fingertip_max_gap": 0.09588785388008722,
+            "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": 1.0486240289336648,
+            "object_top_z": 1.0950541873483832,
+            "finger_top_clearance": 0.046430158414718425,
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+            "object_projection_between_fingers": 0.8358440805097466,
+            "object_to_finger_line_xy": 0.009877255358580576,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05044392694004361,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5791521370615533,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35788093655337117,
+              -0.04979622590820948,
+              1.2399993092822676
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+            "held_position": [
+              0.36265901629039077,
+              -0.045615303067435616,
+              1.237854906379179
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0067013898248495215,
+            "max_held_gripper_dist": 0.006706419823691652,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021444029030885936,
+            "max_held_gripper_z_dist": 0.0021511541636538567,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0869092212885926,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36265901629039077,
+              -0.07059612315680096,
+              1.237854906379179
+            ],
+            "held_grasp_finger_b": [
+              0.35338066781585586,
+              -0.045615303067435616,
+              1.237854906379179
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+            "held_grasp_midpoint": [
+              0.3580198420531233,
+              -0.05810571311211829,
+              1.237854906379179
+            ],
+            "held_grasp_object_position": [
+              0.36265901629039077,
+              -0.045615303067435616,
+              1.237854906379179
+            ],
+            "held_grasp_finger_gap": 0.02664824802406611,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02515180728045801,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01904725315704737,
+              -0.9997702292734758,
+              0.009833148307288542
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004877776197073687,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03280104837785554,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
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+              0.27134061488743233,
+              -0.3891647557181763,
+              0.8470191881415035
+            ],
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+              0.26945224272664536,
+              -0.388231400402751,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.002106442869500129,
+            "xy_threshold": 0.08,
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
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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,
+            "release_min_pad_clearance": 0.14969110493954713,
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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_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00820833444595337,
+            "max_z_decrease": 0.00820833444595337,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035052627546746505,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00820833444595337,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020922959695063355,
+            "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": 0.00820833444595337,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008208371054579448,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12515217065811157,
+              -0.4444928467273712,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12515217065811157,
+              -0.4444928467273712,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12292283971241103,
+              -0.444125602113863,
+              0.8035798126248486
+            ],
+            "closest_button": [
+              0.12516269087791443,
+              -0.4444707036018372,
+              0.7686005234718323
+            ],
+            "closest_ee_minus_button": [
+              -0.0022398511655034037,
+              0.0003451014879742309,
+              0.03497928915301629
+            ],
+            "button_min_z_position": [
+              0.12516269087791443,
+              -0.4444707036018372,
+              0.7686005234718323
+            ],
+            "min_active_finger_to_button": 0.1476878114197986,
+            "closest_active_finger": [
+              -0.0030074864625930786,
+              -0.5093106627464294,
+              0.8107629418373108
+            ],
+            "closest_active_finger_button": [
+              0.12515294551849365,
+              -0.4444915652275086,
+              0.7763379812240601
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12816043198108673,
+              -0.06481909751892084,
+              0.03442496061325073
+            ],
+            "min_contact_pad_to_button": 0.020922959695063355,
+            "closest_contact_pad": [
+              0.12516269087791443,
+              -0.4450924900874825,
+              0.7895142420308909
+            ],
+            "closest_contact_pad_button": [
+              0.12516269087791443,
+              -0.4444707036018372,
+              0.7686005234718323
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006217864856452593,
+              0.02091371855905866
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d74c71ded6a81c07383a0ed11653a28601881f06c60cf73e7d9cafd30039254f",
+    "visual_seed": 8887589096541154225,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d0477a30dda753332d8f7055e2ec1599368e1ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              -0.04628653852968366,
+              1.046950222213656
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+            "lift_margin": 0.1903637744097354,
+            "gripper_z": 1.0491985924587721,
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+            "gripper_position": [
+              0.34978795953740205,
+              -0.05081247590663847,
+              1.0491985924587721
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+              0.004690487719081038,
+              0.004525937376954808,
+              -0.002248370245116149
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+            "object_to_gripper_z": -0.002248370245116149,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3544784472564831,
+              -0.07074194672853779,
+              1.046950222213656
+            ],
+            "finger_b": [
+              0.3435196719937458,
+              -0.04628653852968366,
+              1.046950222213656
+            ],
+            "finger_midpoint": [
+              0.34899905962511446,
+              -0.05851424262911072,
+              1.046950222213656
+            ],
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+              0.005479387631368626,
+              0.012227704099427063,
+              0.0
+            ],
+            "finger_gap": 0.02679853998694266,
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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": 0.8327747808580626,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050558285394505534,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.445911573753086,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "03f52b75ecfbe8f7afaddc08846b499e3f0d3e4dea03b16c172244ee0161674a",
+    "visual_seed": 7414319989526343722,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
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+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e63696e33a4769898fc502efa5a9893e55c9a9a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              -0.04362881437008351,
+              1.0463062430159005
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+            "gripper_z": 1.047894297522606,
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+              -0.04814904707085796,
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+              0.004520232700774451,
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+              1.0463062430159005
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+              -0.05556767670273135,
+              1.0463062430159005
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              1.2382222515600414
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_object_xy_range": 0.08721988429753022,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              -0.05562516950677421,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528359114141247,
+            "release_required_pad_clearance": 0.05297164220483003,
+            "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": 0.9763763490284629,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008221805095672607,
+            "max_z_decrease": 0.008221805095672607,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504850546790148,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008221805095672607,
+            "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": 0.020932203389551787,
+            "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": 0.008221805095672607,
+            "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": 0.008221896577849453,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11922478675842285,
+              -0.44354605674743647,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11922478675842285,
+              -0.44354605674743647,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11686821592990651,
+              -0.44326046852834905,
+              0.8036231333823012
+            ],
+            "closest_button": [
+              0.11925289034843445,
+              -0.44352519512176514,
+              0.768656849861145
+            ],
+            "closest_ee_minus_button": [
+              -0.002384674418527938,
+              0.00026472659341608695,
+              0.03496628352115616
+            ],
+            "button_min_z_position": [
+              0.11925671249628067,
+              -0.44352403283119196,
+              0.768587052822113
+            ],
+            "min_active_finger_to_button": 0.14785947528985355,
+            "closest_active_finger": [
+              -0.009876839816570282,
+              -0.5068717002868652,
+              0.8110564947128296
+            ],
+            "closest_active_finger_button": [
+              0.11922546476125719,
+              -0.443546175956726,
+              0.776634156703949
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12910230457782745,
+              -0.06332552433013922,
+              0.034422338008880615
+            ],
+            "min_contact_pad_to_button": 0.020932203389551787,
+            "closest_contact_pad": [
+              0.11925671249628067,
+              -0.4443889814336164,
+              0.7895013781197823
+            ],
+            "closest_contact_pad_button": [
+              0.11925671249628067,
+              -0.44352403283119196,
+              0.768587052822113
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008649486024244202,
+              0.020914325297669234
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9f9cb2b1df53d663318aae6170f6b7ab2c8095119f0918f9406c364b33aec7db",
+    "visual_seed": 8454899356232679836,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4e67d627ac5cb318fba65e739b957ae9b3c72db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3600236047448804,
+              -0.05426489601113807,
+              1.0478676071506132
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+            "lift_margin": 0.19128109974204766,
+            "gripper_z": 1.0493344902891206,
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+            "gripper_position": [
+              0.35555021162582096,
+              -0.05879027174097498,
+              1.0493344902891206
+            ],
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+              0.004473393119059421,
+              0.004525375729836911,
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+            "object_to_gripper_xy": 0.006363196641142338,
+            "object_to_gripper_z": -0.0014668831385074022,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3600236047448804,
+              -0.07835176577916882,
+              1.0478676071506132
+            ],
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+              -0.05426489601113807,
+              1.0478676071506132
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+              0.35440056233743855,
+              -0.06630833089515345,
+              1.0478676071506132
+            ],
+            "object_minus_finger_midpoint": [
+              0.005623042407441825,
+              0.01204343488401538,
+              0.0
+            ],
+            "finger_gap": 0.02658292156414775,
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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_to_finger_line_xy": 0.010190113215458997,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04969773955713684,
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+            "object_tilt_deg": 2.8024578107433933,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.05787347644152367,
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+            "held_position": [
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+              -0.053690816384403504,
+              1.2378844444288213
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006529451294025971,
+            "max_held_gripper_dist": 0.006533313613591963,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001554116878839551,
+            "max_held_gripper_z_dist": 0.00155922852933843,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0876357131718053,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3654354030099174,
+              -0.0788420418844951,
+              1.2378844444288213
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+              -0.053690816384403504,
+              1.2378844444288213
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+            "held_grasp_midpoint": [
+              0.36092234528423184,
+              -0.0662664291344493,
+              1.2378844444288213
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+            "held_grasp_object_position": [
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+                "beaker_b"
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+                "/World/target_beaker"
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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"
+              ],
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+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2729632386000157,
+              -0.38657546780752045,
+              0.8470201485490143
+            ],
+            "target_position": [
+              0.2672394066053199,
+              -0.38800980791244155,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005900812167836576,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853761693548615,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201485490143,
+            "min_z": 0.5730800627579278,
+            "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": 0.0752318692316067,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865568882301611,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15438457987773835,
+            "release_required_pad_clearance": 0.05327844411508055,
+            "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": 1.5726756687710501,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008240759372711182,
+            "max_z_decrease": 0.008240759372711182,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034995769348519085,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008240759372711182,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020948412700787608,
+            "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": 0.008240759372711182,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008240847045998945,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12293933331966402,
+              -0.44427126646041876,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12293933331966402,
+              -0.44427126646041876,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12341919972428561,
+              -0.4441567766969828,
+              0.8036320839612939
+            ],
+            "closest_button": [
+              0.12296383827924728,
+              -0.44424387812614446,
+              0.7686393857002258
+            ],
+            "closest_ee_minus_button": [
+              0.000455361445038327,
+              8.710142916168451e-05,
+              0.0349926982610681
+            ],
+            "button_min_z_position": [
+              0.12296506017446518,
+              -0.44424328207969677,
+              0.7685680985450745
+            ],
+            "min_active_finger_to_button": 0.14541071874665654,
+            "closest_active_finger": [
+              -0.01765524595975876,
+              -0.4306868612766266,
+              0.8108379244804382
+            ],
+            "closest_active_finger_button": [
+              0.1229410767555237,
+              -0.44426810741424566,
+              0.7763053178787231
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14059632271528244,
+              0.013581246137619074,
+              0.03453260660171509
+            ],
+            "min_contact_pad_to_button": 0.020948412700787608,
+            "closest_contact_pad": [
+              0.12296506017446518,
+              -0.44511574060037756,
+              0.7894983353046577
+            ],
+            "closest_contact_pad_button": [
+              0.12296506017446518,
+              -0.44424328207969677,
+              0.7685680985450745
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008724585206807967,
+              0.020930236759583276
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3334ae3255278e4a593716386d43283ea07221cbcef49a32e5e96da29fd25530",
+    "visual_seed": 2681050373044871186,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9fe02a0991348ad8581721e0d027a42900b9e33
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3592280460144195,
+              -0.047345888394823524,
+              1.048123623153391
+            ],
+            "current_z": 1.048123623153391,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19153711574482546,
+            "gripper_z": 1.0494055842586527,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35489442947803396,
+              -0.05183782156298171,
+              1.0494055842586527
+            ],
+            "object_minus_gripper": [
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+              0.1247973837100965,
+              -0.4397582366996807,
+              0.8035757287379597
+            ],
+            "closest_button": [
+              0.12581367790699002,
+              -0.4392545819282532,
+              0.7685967683792114
+            ],
+            "closest_ee_minus_button": [
+              -0.0010162941968935302,
+              -0.000503654771427553,
+              0.03497896035874826
+            ],
+            "button_min_z_position": [
+              0.12581367790699002,
+              -0.4392545819282532,
+              0.7685967683792114
+            ],
+            "min_active_finger_to_button": 0.14668156911383312,
+            "closest_active_finger": [
+              -0.01581624150276184,
+              -0.4224672019481659,
+              0.8109732270240784
+            ],
+            "closest_active_finger_button": [
+              0.12578220665454862,
+              -0.4392784535884857,
+              0.7765821814537048
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14159844815731046,
+              0.016811251640319824,
+              0.034391045570373535
+            ],
+            "min_contact_pad_to_button": 0.020972037716529356,
+            "closest_contact_pad": [
+              0.12581367790699002,
+              -0.44104993167019185,
+              0.789491817680126
+            ],
+            "closest_contact_pad_button": [
+              0.12581367790699002,
+              -0.4392545819282532,
+              0.7685967683792114
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017953497419386788,
+              0.02089504930091457
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d3462d50230882d20d067399c2ecc3df5672716e82e215aab23695172481d7ce",
+    "visual_seed": 5543869162309238786,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b2c3b026d55e30105c916ae1bd481fe7b0b6868
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.35134212278719795,
+              -0.048879149743206445,
+              1.0493332731170628
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+            "current_z": 1.0493332731170628,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19274682531314202,
+            "gripper_z": 1.0509462065883586,
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+            "gripper_position": [
+              0.34694524115413217,
+              -0.05337082196392186,
+              1.0509462065883586
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+              0.004396881633065786,
+              0.004491672220715413,
+              -0.0016129334712957633
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+            "object_to_gripper_z": -0.0016129334712957633,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.35134212278719795,
+              -0.07280361855885298,
+              1.0493332731170628
+            ],
+            "finger_b": [
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+              -0.048879149743206445,
+              1.0493332731170628
+            ],
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+              0.3456718759105496,
+              -0.060841384151029715,
+              1.0493332731170628
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01196223440782327,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04945758946218594,
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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": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35226094889615506,
+              -0.05269679890253208,
+              1.2442272139909687
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+            "held_position": [
+              0.3570128122099681,
+              -0.04861669881484509,
+              1.2425278138337799
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006489636551684479,
+            "max_held_gripper_dist": 0.006490161977576943,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0017004404220017921,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08744483174772846,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
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+              -0.07388345494158297,
+              1.2425278138337799
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+              -0.04861669881484509,
+              1.2425278138337799
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+            "held_grasp_midpoint": [
+              0.35260417738578553,
+              -0.06125007687821403,
+              1.2425278138337799
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+            "held_grasp_object_position": [
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+              -0.04861669881484509,
+              1.2425278138337799
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+            "held_grasp_finger_gap": 0.02676103901607758,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024790839858473784,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.050340233092505286,
+              -0.9987314216844796,
+              0.0011867064888602117
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003767108394617208,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03236094162723571,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2691398428211298,
+              -0.39008582056535224,
+              0.8470193359559981
+            ],
+            "target_position": [
+              0.2633965198742781,
+              -0.3914500679582007,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005903128782326128,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18699700748491832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193359559981,
+            "min_z": 0.5730800627579278,
+            "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": 0.07514481078066036,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602498213808586,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15625371908143215,
+            "release_required_pad_clearance": 0.05301249106904293,
+            "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": 1.0564620057864207,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00816887617111206,
+            "max_z_decrease": 0.00816887617111206,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506894280528128,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00816887617111206,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020932622798440215,
+            "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": 0.00816887617111206,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008168983086850113,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11909644305706024,
+              -0.4477115273475647,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11909644305706024,
+              -0.4477115273475647,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12046275629366315,
+              -0.4459751233164209,
+              0.8036418062732708
+            ],
+            "closest_button": [
+              0.11912856996059416,
+              -0.44768479466438293,
+              0.7686399817466736
+            ],
+            "closest_ee_minus_button": [
+              0.0013341863330689901,
+              0.0017096713479620163,
+              0.03500182452659717
+            ],
+            "button_min_z_position": [
+              0.11912856996059416,
+              -0.44768479466438293,
+              0.7686399817466736
+            ],
+            "min_active_finger_to_button": 0.14399366564102323,
+            "closest_active_finger": [
+              -0.006034277379512787,
+              -0.5100799798965454,
+              0.8108047842979431
+            ],
+            "closest_active_finger_button": [
+              0.11909828335046767,
+              -0.4477086663246155,
+              0.7763687968254089
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12513256072998047,
+              -0.06237131357192993,
+              0.03443598747253418
+            ],
+            "min_contact_pad_to_button": 0.020932622798440215,
+            "closest_contact_pad": [
+              0.11912856996059416,
+              -0.44768479466438293,
+              0.7895726045451138
+            ],
+            "closest_contact_pad_button": [
+              0.11912856996059416,
+              -0.44768479466438293,
+              0.7686399817466736
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020932622798440215
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0da34906155c709a69d2ce34faa5b8bf3ba7ea56f058641d3d545247535d4769",
+    "visual_seed": 6878323165309235774,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4d30567738ab3ce416584db83b3e5a4979ea7db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3515041544499309,
+              -0.04607731492291367,
+              1.0493598036832672
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+            "lift_margin": 0.19277329627470163,
+            "gripper_z": 1.0509578156830035,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34708558560557895,
+              -0.05060752681625931,
+              1.0509578156830035
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+              0.004418568844351933,
+              0.00453021189334564,
+              -0.001598011999736304
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+            "object_to_gripper_xy": 0.006328235965171326,
+            "object_to_gripper_z": -0.001598011999736304,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3515041544499309,
+              -0.06999193966384297,
+              1.0493598036832672
+            ],
+            "finger_b": [
+              0.3400757330915928,
+              -0.04607731492291367,
+              1.0493598036832672
+            ],
+            "finger_midpoint": [
+              0.34578994377076183,
+              -0.05803462729337832,
+              1.0493598036832672
+            ],
+            "object_minus_finger_midpoint": [
+              0.005714210679169052,
+              0.01195731237046465,
+              0.0
+            ],
+            "finger_gap": 0.026505057842668184,
+            "fingertip_max_gap": 0.09454728775388996,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013252528921334092,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493598036832672,
+            "object_top_z": 1.0956875994244095,
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+            "object_projection_between_fingers": 0.8140847668241664,
+            "object_to_finger_line_xy": 0.010311481294936283,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04977364387694498,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.38007109229804,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
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+        "ordinary_object_physical_only": true
+      }
+    }
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+  "physical_semantics": {
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
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+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5f0a48eddf8af333f826ac820eb22a492fae9500a273b6b258fb37d868b7de0",
+    "visual_seed": 1757793709088931100,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      5066845160497422571,
+      1159376154734467498,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2edd6e40f9519fe7cb5eeb5c62ca23c8cdc6b6dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+            "stable_success_frames": 217,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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",
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+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_z_skew_max": 0.08,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "release_min_pad_clearance": 0.15421123855585278,
+            "release_required_pad_clearance": 0.05289835363914637,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.835556705724594,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008176147937774658,
+            "max_z_decrease": 0.008176147937774658,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506835639199045,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008176147937774658,
+            "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": 0.021097069852466427,
+            "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": 0.008176147937774658,
+            "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": 0.008176216359718996,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11961745470762251,
+              -0.44267794489860535,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11961745470762251,
+              -0.44267794489860535,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11750534114564748,
+              -0.4442952461847582,
+              0.8035974693155136
+            ],
+            "closest_button": [
+              0.11964233964681624,
+              -0.4426555931568145,
+              0.768632709980011
+            ],
+            "closest_ee_minus_button": [
+              -0.0021369985011687603,
+              -0.001639653027943666,
+              0.03496475933550258
+            ],
+            "button_min_z_position": [
+              0.11964233964681624,
+              -0.4426555931568145,
+              0.768632709980011
+            ],
+            "min_active_finger_to_button": 0.14770992926436904,
+            "closest_active_finger": [
+              -0.02324827015399933,
+              -0.4278487265110016,
+              0.8105630874633789
+            ],
+            "closest_active_finger_button": [
+              0.11961612850427625,
+              -0.4426774382591247,
+              0.7760943174362183
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14286439865827558,
+              0.014828711748123113,
+              0.034468770027160645
+            ],
+            "min_contact_pad_to_button": 0.021097069852466427,
+            "closest_contact_pad": [
+              0.11964233964681624,
+              -0.44551150814316026,
+              0.7895355831306239
+            ],
+            "closest_contact_pad_button": [
+              0.11964233964681624,
+              -0.4426555931568145,
+              0.768632709980011
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028559149863457423,
+              0.0209028731506129
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46aecaff52a353046f12d7b898c1e71278e00e2caf0b7951bc879573efb67a13",
+    "visual_seed": 2249269994876380263,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f88e52192ae4083552947a253f9ad1c041e504a9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3582359147716715,
+              -0.044959602065610095,
+              1.0496221196471514
+            ],
+            "current_z": 1.0496221196471514,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.193035552633941,
+            "gripper_z": 1.0511419771049988,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35371602458477824,
+              -0.04943745329140692,
+              1.0511419771049988
+            ],
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+              0.0045198901868932495,
+              0.004477851225796824,
+              -0.00151985745784744
+            ],
+            "object_to_gripper_xy": 0.006362433410413347,
+            "object_to_gripper_z": -0.00151985745784744,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3582359147716715,
+              -0.06920605885915158,
+              1.0496221196471514
+            ],
+            "finger_b": [
+              0.3472216988071438,
+              -0.044959602065610095,
+              1.0496221196471514
+            ],
+            "finger_midpoint": [
+              0.35272880678940766,
+              -0.05708283046238084,
+              1.0496221196471514
+            ],
+            "object_minus_finger_midpoint": [
+              0.005507107982263837,
+              0.012123228396770748,
+              0.0
+            ],
+            "finger_gap": 0.026630877198363753,
+            "fingertip_max_gap": 0.09584213044830439,
+            "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": 1.0496221196471514,
+            "object_top_z": 1.0963583350929165,
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+            "object_projection_between_fingers": 0.8289448194685666,
+            "object_to_finger_line_xy": 0.01002804787500818,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0504210652241522,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8792410818289578,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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/target_beaker/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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35875755491714767,
+              -0.04803223220373931,
+              1.2431214375688473
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+            "held_position": [
+              0.36351746511642424,
+              -0.04384034928939644,
+              1.2415183708879323
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0065420524498200705,
+            "max_held_gripper_dist": 0.00654609127910534,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001603066680915033,
+            "max_held_gripper_z_dist": 0.0016081668990330922,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08693304740283245,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36351746511642424,
+              -0.06898061522673671,
+              1.2415183708879323
+            ],
+            "held_grasp_finger_b": [
+              0.3543420571796579,
+              -0.04384034928939644,
+              1.2415183708879323
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+            "held_grasp_midpoint": [
+              0.3589297611480411,
+              -0.05641048225806657,
+              1.2415183708879323
+            ],
+            "held_grasp_object_position": [
+              0.36351746511642424,
+              -0.04384034928939644,
+              1.2415183708879323
+            ],
+            "held_grasp_finger_gap": 0.026762307116656937,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
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+              "held_object": "beaker_b",
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+                "beaker_b"
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+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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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"
+              ],
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+            },
+            "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2731497811013811,
+              -0.38382335227729375,
+              0.8470196580538284
+            ],
+            "target_position": [
+              0.2683370733086636,
+              -0.38522347574492194,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005012235232178077,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846943062871018,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196580538284,
+            "min_z": 0.5730800627579278,
+            "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": 0.07586160150885658,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08858081269196426,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15221742434891264,
+            "release_required_pad_clearance": 0.05429040634598213,
+            "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": 3.600968960767325,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00822436809539795,
+            "max_z_decrease": 0.00822436809539795,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035033422427439904,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00822436809539795,
+            "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": 0.020974434748054747,
+            "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": 0.00822436809539795,
+            "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": 0.008224474372779716,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1240369975566864,
+              -0.44148492813110346,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1240369975566864,
+              -0.44148492813110346,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12198584314549893,
+              -0.4420734152326396,
+              0.8036202290533919
+            ],
+            "closest_button": [
+              0.12406764179468155,
+              -0.44146266579627985,
+              0.7686540484428406
+            ],
+            "closest_ee_minus_button": [
+              -0.00208179864918262,
+              -0.0006107494363597477,
+              0.034966180610551345
+            ],
+            "button_min_z_position": [
+              0.12407214194536209,
+              -0.4414622783660888,
+              0.7685844898223877
+            ],
+            "min_active_finger_to_button": 0.14773063501832326,
+            "closest_active_finger": [
+              -0.018706485629081726,
+              -0.42523136734962463,
+              0.8110335469245911
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+            "closest_active_finger_button": [
+              0.12403719127178192,
+              -0.44148492813110346,
+              0.7766183614730835
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14274367690086365,
+              0.016253560781478826,
+              0.03441518545150757
+            ],
+            "min_contact_pad_to_button": 0.020974434748054747,
+            "closest_contact_pad": [
+              0.12407214194536209,
+              -0.44332699073901505,
+              0.7894758698813178
+            ],
+            "closest_contact_pad_button": [
+              0.12407214194536209,
+              -0.4414622783660888,
+              0.7685844898223877
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001864712372926236,
+              0.020891380058930098
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "76a3308b0c9412a19b6a784c86c99cb7b805a4bf4750a7a5605c61309e26bc8e",
+    "visual_seed": 3536925955613660680,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1813bc168a1cbf3d4c11403fe917c9eed4ee49c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3512431005244406,
+              -0.04728726734783262,
+              1.0459965574574168
+            ],
+            "current_z": 1.0459965574574168,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18941010965349603,
+            "gripper_z": 1.047829067237978,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3465788484808809,
+              -0.05188125040028575,
+              1.047829067237978
+            ],
+            "object_minus_gripper": [
+              0.004664252043559691,
+              0.004593983052453135,
+              -0.0018325097805611534
+            ],
+            "object_to_gripper_xy": 0.006546749377521441,
+            "object_to_gripper_z": -0.0018325097805611534,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.0009029484265942744,
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+            ],
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+              0.11930807679891582,
+              -0.4471629858016967,
+              0.7687247395515442
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+            "closest_active_finger": [
+              -0.022031426429748535,
+              -0.43038493394851685,
+              0.8109543323516846
+            ],
+            "closest_active_finger_button": [
+              0.11930224299430843,
+              -0.44717755913734436,
+              0.7765079140663147
+            ],
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+            "closest_active_finger_minus_button": [
+              -0.14133366942405695,
+              0.016792625188827515,
+              0.03444641828536987
+            ],
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+            "closest_contact_pad": [
+              0.11930807679891582,
+              -0.4493893662269002,
+              0.7897091026409621
+            ],
+            "closest_contact_pad_button": [
+              0.11930807679891582,
+              -0.4471629858016967,
+              0.7687247395515442
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002226380425203456,
+              0.020984363089417868
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8ce3ab8e81fed80579c4299a95827923a7dfc85889787b956b1552b5e501fc50",
+    "visual_seed": 6384413125979213408,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5275d049756de6f00cac78cc7e8dca2a51813a31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_74_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35835690593410696,
+              -0.041841987573737596,
+              1.0455348953027193
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+            "required_z": 0.8565865074085656,
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+            "gripper_z": 1.047493937974145,
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+            "gripper_position": [
+              0.3537181766636441,
+              -0.046264559070240616,
+              1.047493937974145
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+              0.004638729270462882,
+              0.004422571496503019,
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+            "object_to_gripper_z": -0.0019590426714257703,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.35835690593410696,
+              -0.06620170641285719,
+              1.0455348953027193
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+              1.0455348953027193
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+            "finger_midpoint": [
+              0.3529077965971573,
+              -0.054021846993297394,
+              1.0455348953027193
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+            "object_minus_finger_midpoint": [
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+              0.012179859419559798,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05039369139722667,
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+            "object_tilt_deg": 3.695390699496846,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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/target_beaker/mesh"
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+                {
+                  "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/target_beaker/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.044548481206608495,
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+              -0.04034827759032673,
+              1.236986325455052
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+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006699475041209155,
+            "max_held_gripper_dist": 0.006705777060375462,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002039048938589305,
+            "max_held_gripper_z_dist": 0.0020453420387462895,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08771949177043646,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              -0.0653759436458883,
+              1.236986325455052
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+              -0.05286211061810751,
+              1.236986325455052
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+            "held_grasp_object_position": [
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+              -0.04034827759032673,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025160144838354322,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9998883878490268,
+              0.003888159704246829
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004868930662252106,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2679091196925324,
+              -0.3823136423196146,
+              0.8470196005352333
+            ],
+            "target_position": [
+              0.2619531321506577,
+              -0.38420721620493814,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006249752767761772,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18318195489272113,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196005352333,
+            "min_z": 0.5730800627579278,
+            "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": 0.07547820866418624,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08892127206362464,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1517616834688075,
+            "release_required_pad_clearance": 0.05446063603181232,
+            "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": 3.9493373451798237,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008081614971160889,
+            "max_z_decrease": 0.008081614971160889,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508290653672009,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008081614971160889,
+            "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": 0.021045182522864476,
+            "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": 0.008081614971160889,
+            "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": 0.008081630564467635,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11765305697917935,
+              -0.44046866893768305,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11765305697917935,
+              -0.44046866893768305,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11717809442714583,
+              -0.4404387588303015,
+              0.8038068948258903
+            ],
+            "closest_button": [
+              0.11765574663877486,
+              -0.44045302271842957,
+              0.7687272429466248
+            ],
+            "closest_ee_minus_button": [
+              -0.0004776522116290288,
+              1.4263888128085433e-05,
+              0.03507965187926554
+            ],
+            "button_min_z_position": [
+              0.11765574663877486,
+              -0.44045302271842957,
+              0.7687272429466248
+            ],
+            "min_active_finger_to_button": 0.14627591116759825,
+            "closest_active_finger": [
+              -0.023417755961418152,
+              -0.4229234457015991,
+              0.8107218146324158
+            ],
+            "closest_active_finger_button": [
+              0.11765373498201369,
+              -0.4404664933681488,
+              0.7762585282325745
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14107149094343185,
+              0.017543047666549683,
+              0.03446328639984131
+            ],
+            "min_contact_pad_to_button": 0.021045182522864476,
+            "closest_contact_pad": [
+              0.11765574663877486,
+              -0.4417490648300575,
+              0.7897324799666054
+            ],
+            "closest_contact_pad_button": [
+              0.11765574663877486,
+              -0.44045302271842957,
+              0.7687272429466248
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012960421116279264,
+              0.021005237019980694
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4438767e80d9d84443d26c8e69c14f12ed281deb8d0508536d06ae0e95d38135",
+    "visual_seed": 4296819967908696457,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1a896951a353394fe4ea746f648398f0a4cb649
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3552894351005874,
+              -0.04928754359987405,
+              1.0468872412895764
+            ],
+            "current_z": 1.0468872412895764,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19030085309030043,
+            "gripper_z": 1.048477580950961,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35068020334046773,
+              -0.05385285997833662,
+              1.048477580950961
+            ],
+            "object_minus_gripper": [
+              0.004609231760119681,
+              0.004565316378462574,
+              -0.0015903396613845544
+            ],
+            "object_to_gripper_xy": 0.006487459522336506,
+            "object_to_gripper_z": -0.0015903396613845544,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3552894351005874,
+              -0.07350353150076512,
+              1.0468872412895764
+            ],
+            "finger_b": [
+              0.34402301550228664,
+              -0.04928754359987405,
+              1.0468872412895764
+            ],
+            "finger_midpoint": [
+              0.34965622530143703,
+              -0.06139553755031958,
+              1.0468872412895764
+            ],
+            "object_minus_finger_midpoint": [
+              0.005633209799150385,
+              0.012107993950445532,
+              0.0
+            ],
+            "finger_gap": 0.026708543213381716,
+            "fingertip_max_gap": 0.09391598725029618,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013354271606690855,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468872412895764,
+            "object_top_z": 1.0927171617242455,
+            "finger_top_clearance": 0.04582992043466905,
+            "fingertip_min_top_clearance": 0.013748976130400714,
+            "object_projection_between_fingers": 0.8220608783975447,
+            "object_to_finger_line_xy": 0.010214989207727353,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04945799362514809,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.560787942376487,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_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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+        "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb2ada612fe3ee88bc513c30ffc286ec789e34f71f6ef928f434e20ae4f541f6",
+    "visual_seed": 3665618305763954732,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
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+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7807378136e2e36cc4ee6d224ae11363f2f2368
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+              -0.048062391183532116,
+              1.0494646822124782
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+              0.004500301111578481,
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+              1.0494646822124782
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+              1.0494646822124782
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+              0.011910854670416006,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "gripper": null,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15467618862943816,
+            "release_required_pad_clearance": 0.0531889468696074,
+            "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": 1.4005089842915988,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008155226707458496,
+            "max_z_decrease": 0.008155226707458496,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499739454529103,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008155226707458496,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0209606202262782,
+            "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": 0.008155226707458496,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00815529705747978,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12167797237634657,
+              -0.4452736973762512,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12167797237634657,
+              -0.4452736973762512,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12162165922809784,
+              -0.4454176403358295,
+              0.8036505323969028
+            ],
+            "closest_button": [
+              0.12170246988534927,
+              -0.4452503025531768,
+              0.7686536312103271
+            ],
+            "closest_ee_minus_button": [
+              -8.081065725143444e-05,
+              -0.00016733778265265453,
+              0.03499690118657561
+            ],
+            "button_min_z_position": [
+              0.12170246988534927,
+              -0.4452503025531768,
+              0.7686536312103271
+            ],
+            "min_active_finger_to_button": 0.14587510810478094,
+            "closest_active_finger": [
+              -0.019207783043384552,
+              -0.4297376275062561,
+              0.8108358383178711
+            ],
+            "closest_active_finger_button": [
+              0.12167909741401671,
+              -0.44527140259742737,
+              0.7763519883155823
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14088688045740128,
+              0.015533775091171265,
+              0.03448385000228882
+            ],
+            "min_contact_pad_to_button": 0.0209606202262782,
+            "closest_contact_pad": [
+              0.12170246988534927,
+              -0.4465630820841178,
+              0.7895731008540204
+            ],
+            "closest_contact_pad_button": [
+              0.12170246988534927,
+              -0.4452503025531768,
+              0.7686536312103271
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013127795309409995,
+              0.02091946964369329
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7cc474b4dc09fcabf6f7dbd9e658f5ed30c238d83807d8b29f683b706a07ce1",
+    "visual_seed": 7933880256719479888,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0db9fa19ebbb02822068810211c6403083da0284
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3561355170106716,
+              -0.04711067404972772,
+              1.047644075323146
+            ],
+            "current_z": 1.047644075323146,
+            "required_z": 0.8565866266178552,
+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.19105744870529073,
+            "gripper_z": 1.049272111839361,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3516057438014542,
+              -0.05167189342793542,
+              1.049272111839361
+            ],
+            "object_minus_gripper": [
+              0.00452977320921738,
+              0.0045612193782077,
+              -0.0016280365162151256
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+            "object_to_gripper_xy": 0.006428340963505355,
+            "object_to_gripper_z": -0.0016280365162151256,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3561355170106716,
+              -0.07119176574918218,
+              1.047644075323146
+            ],
+            "finger_b": [
+              0.3447756367933644,
+              -0.04711067404972772,
+              1.047644075323146
+            ],
+            "finger_midpoint": [
+              0.350455576902018,
+              -0.059151219899454946,
+              1.047644075323146
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056799401086535806,
+              0.012040545849727226,
+              0.0
+            ],
+            "finger_gap": 0.026626037181471468,
+            "fingertip_max_gap": 0.09447562499908721,
+            "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": 1.047644075323146,
+            "object_top_z": 1.093576937494118,
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+            "object_projection_between_fingers": 0.8179735765977163,
+            "object_to_finger_line_xy": 0.010274090558175753,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04973781249954361,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.917828795644169,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/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_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35676831624269323,
+              -0.050775871467988704,
+              1.2391284973901135
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+            "held_position": [
+              0.3616086125417205,
+              -0.04659029142792497,
+              1.237406592997603
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0066266509845550195,
+            "max_held_gripper_dist": 0.0066320945723718425,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0017219043925105204,
+            "max_held_gripper_z_dist": 0.0017238059431667896,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08705797164999121,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3616086125417205,
+              -0.07178601834253236,
+              1.237406592997603
+            ],
+            "held_grasp_finger_b": [
+              0.35258385378082135,
+              -0.04659029142792497,
+              1.237406592997603
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+            "held_grasp_midpoint": [
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+              -0.05918815488522866,
+              1.237406592997603
+            ],
+            "held_grasp_object_position": [
+              0.3616086125417205,
+              -0.04659029142792497,
+              1.237406592997603
+            ],
+            "held_grasp_finger_gap": 0.026763238321397074,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024909226888562185,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.030434063733973296,
+              -0.9995300813200433,
+              -0.003658456092958229
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+                "beaker_b"
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
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+                "joint6",
+                "joint7",
+                "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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+                "defaultgroundplane",
+                "desk",
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+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2678721698010295,
+              -0.3842613752574505,
+              0.8470196124280677
+            ],
+            "target_position": [
+              0.26179511677688366,
+              -0.38604031448652015,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006332076929333936,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18419233748830896,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196124280677,
+            "min_z": 0.5730800627579278,
+            "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": 0.07539528014507171,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08744707321299701,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15285431809281988,
+            "release_required_pad_clearance": 0.053723536606498506,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.456245920997171,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008214235305786133,
+            "max_z_decrease": 0.008214235305786133,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500202060546998,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008214235305786133,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020938932226036096,
+            "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": 122,
+            "max_z_decrease_with_contact_point": 0.008214235305786133,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008214315645180428,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11749504506587978,
+              -0.44230177998542786,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11749504506587978,
+              -0.44230177998542786,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11716900020654958,
+              -0.4413836373560038,
+              0.8036536996462904
+            ],
+            "closest_button": [
+              0.11752027273178095,
+              -0.44227668642997736,
+              0.7686648368835449
+            ],
+            "closest_ee_minus_button": [
+              -0.000351272525231372,
+              0.0008930490739735841,
+              0.03498886276274549
+            ],
+            "button_min_z_position": [
+              0.1175216808915138,
+              -0.4422770738601684,
+              0.7685946226119995
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+            "min_active_finger_to_button": 0.14582639532973818,
+            "closest_active_finger": [
+              -0.009267620742321014,
+              -0.5056092739105225,
+              0.8105672001838684
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+            "closest_active_finger_button": [
+              0.11749695241451259,
+              -0.44229829311370844,
+              0.7761027216911316
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1267645731568336,
+              -0.06331098079681402,
+              0.034464478492736816
+            ],
+            "min_contact_pad_to_button": 0.020938932226036096,
+            "closest_contact_pad": [
+              0.1175216808915138,
+              -0.4424556408331283,
+              0.7895327934156466
+            ],
+            "closest_contact_pad_button": [
+              0.1175216808915138,
+              -0.4422770738601684,
+              0.7685946226119995
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00017856697295992596,
+              0.020938170803647127
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17672199c627fadb5cdfdb13ce05194466136fa18e6dcd93b4acb43b97d9c7a3",
+    "visual_seed": 1984935085906955636,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84c7127028463bceb7cb8f313e277cd1fd9f2c0e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35568054055324533,
+              -0.045958412911251426,
+              1.0460207220139865
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+            "current_z": 1.0460207220139865,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18943427421006576,
+            "gripper_z": 1.04770833439906,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35110262126403946,
+              -0.050481200740585916,
+              1.04770833439906
+            ],
+            "object_minus_gripper": [
+              0.004577919289205867,
+              0.00452278782933449,
+              -0.0016876123850735336
+            ],
+            "object_to_gripper_xy": 0.006435289796711516,
+            "object_to_gripper_z": -0.0016876123850735336,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35568054055324533,
+              -0.07020839841585656,
+              1.0460207220139865
+            ],
+            "finger_b": [
+              0.3445520580820499,
+              -0.045958412911251426,
+              1.0460207220139865
+            ],
+            "finger_midpoint": [
+              0.35011629931764765,
+              -0.058083405663553994,
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+              0.11781293898820874,
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+            ],
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+            "closest_active_finger_minus_button": [
+              -0.1419967636466026,
+              0.015041887760162298,
+              0.034490346908569336
+            ],
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+            "closest_contact_pad": [
+              0.11783112585544585,
+              -0.4425715110297039,
+              0.7896127023764613
+            ],
+            "closest_contact_pad_button": [
+              0.11783112585544585,
+              -0.4402637481689453,
+              0.768684983253479
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023077628607585665,
+              0.020927719122982302
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a102f5a3310be2ebd1a529232d7547588abb17cb1f70ec58b7adb8eb3347e161",
+    "visual_seed": 3657381175930838949,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb008c69be7a35684da2195c8c0ea849ff887f8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3571183593275223,
+              -0.044520972115372676,
+              1.0467741499659187
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+            "gripper_z": 1.0483737402569073,
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+            "gripper_position": [
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+              -0.049088555784642066,
+              1.0483737402569073
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+              0.00456758366926939,
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+            "object_to_gripper_z": -0.0015995902909886617,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3571183593275223,
+              -0.06871509970589153,
+              1.0467741499659187
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+            "finger_b": [
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+              1.0467741499659187
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+            "finger_midpoint": [
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+              -0.0566180359106321,
+              1.0467741499659187
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+              0.012097063795259426,
+              0.0
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+            "object_to_finger_line_xy": 0.010244930309250284,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049675732170632994,
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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": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.04791164314334727,
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+              -0.04369880377953616,
+              1.2391928303924444
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+            "required_gripper_z": 0.8930800627579277,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0016927533396897676,
+            "max_held_gripper_z_dist": 0.0016943231933130853,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08730508791536028,
+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              1.2391928303924444
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+              -0.05634508903639203,
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+              -0.04369880377953616,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02500293688583953,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.999536229313352,
+              0.002244724996145586
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004189351183329649,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27192918928641635,
+              -0.38583169816304286,
+              0.8470195305821593
+            ],
+            "target_position": [
+              0.2670323339839992,
+              -0.3869982343872567,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0050338850419148285,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18461596697748925,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195305821593,
+            "min_z": 0.5730800627579278,
+            "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": 0.07584336472073888,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08829284407057304,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15227001319111882,
+            "release_required_pad_clearance": 0.05414642203528652,
+            "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": 3.307021629498739,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008088290691375732,
+            "max_z_decrease": 0.008088290691375732,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509995918724159,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008088290691375732,
+            "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": 0.020994658766080896,
+            "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": 0.008088290691375732,
+            "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": 0.008088311099886973,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12273225933313371,
+              -0.4432596862316131,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12273225933313371,
+              -0.4432596862316131,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12149200197600138,
+              -0.4423070584240727,
+              0.8037857843114374
+            ],
+            "closest_button": [
+              0.12274108082056047,
+              -0.44324380159378046,
+              0.7687205672264099
+            ],
+            "closest_ee_minus_button": [
+              -0.00124907884455909,
+              0.0009367431697077655,
+              0.03506521708502752
+            ],
+            "button_min_z_position": [
+              0.12274108082056047,
+              -0.44324380159378046,
+              0.7687205672264099
+            ],
+            "min_active_finger_to_button": 0.14659953813188892,
+            "closest_active_finger": [
+              -0.0046496763825416565,
+              -0.5071242451667786,
+              0.8109237551689148
+            ],
+            "closest_active_finger_button": [
+              0.12273342162370683,
+              -0.44325765967369074,
+              0.7764849662780762
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12738309800624847,
+              -0.06386658549308782,
+              0.03443878889083862
+            ],
+            "min_contact_pad_to_button": 0.020994658766080896,
+            "closest_contact_pad": [
+              0.12274108082056047,
+              -0.4433120559494627,
+              0.7897151150435721
+            ],
+            "closest_contact_pad_button": [
+              0.12274108082056047,
+              -0.44324380159378046,
+              0.7687205672264099
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -6.825435568225124e-05,
+              0.020994547817162146
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "010ff49de8829c29a9e239ed2073bb8f4bcde82104cd346199760aa34eb69346",
+    "visual_seed": 4548669227801025246,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc3054b7d748e0d9a57ddef46c124ba665a1d14
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35377459094208674,
+              -0.048168031847855404,
+              1.0475651646339765
+            ],
+            "current_z": 1.0475651646339765,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19097877643470051,
+            "gripper_z": 1.0492953085507357,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3491795054431235,
+              -0.05267934456678704,
+              1.0492953085507357
+            ],
+            "object_minus_gripper": [
+              0.004595085498963258,
+              0.004511312718931633,
+              -0.0017301439167591859
+            ],
+            "object_to_gripper_xy": 0.006439468393491557,
+            "object_to_gripper_z": -0.0017301439167591859,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35377459094208674,
+              -0.07246781877949551,
+              1.0475651646339765
+            ],
+            "finger_b": [
+              0.34271371107761595,
+              -0.048168031847855404,
+              1.0475651646339765
+            ],
+            "finger_midpoint": [
+              0.34824415100985134,
+              -0.060317925313675455,
+              1.0475651646339765
+            ],
+            "object_minus_finger_midpoint": [
+              0.005530439932235398,
+              0.012149893465820051,
+              0.0
+            ],
+            "finger_gap": 0.02669873982605477,
+            "fingertip_max_gap": 0.0959233053161089,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013349369913027381,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475651646339765,
+            "object_top_z": 1.094397288362361,
+            "finger_top_clearance": 0.04683212372838441,
+            "fingertip_min_top_clearance": 0.014049637118515356,
+            "object_projection_between_fingers": 0.8283681735278342,
+            "object_to_finger_line_xy": 0.010067030344286668,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050461652658054454,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.818758393450082,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f9eae29ec61fffdfc4900e0eeeb9f934ee9453ef7c292b4c50d94600383485ec",
+    "visual_seed": 5808130585603862627,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4d65f0b1b468541b036dc0c0ad690cb8768d117
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
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+              1.0474414347539744
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+              0.004555941796259913,
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+              -0.05828231716801786,
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+              1.0
+            ],
+            "stable_success_frames": 214,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+              "source_missing": false,
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
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+            "held_shake_count": 5,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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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": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "place",
+      "target": "heater_platform",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
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+          "metrics": {
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+            "release_min_pad_clearance": 0.15320137227395242,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4407290077500732,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008261024951934814,
+            "max_z_decrease": 0.008261024951934814,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504278016343022,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008261024951934814,
+            "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": 0.020931231208751844,
+            "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": 0.008261024951934814,
+            "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": 0.00826110673382738,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12380235642194747,
+              -0.44110736250877375,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12380235642194747,
+              -0.44110736250877375,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12327046407890521,
+              -0.43924076307650317,
+              0.8035375921115381
+            ],
+            "closest_button": [
+              0.12383104860782622,
+              -0.4410843849182128,
+              0.7685478329658508
+            ],
+            "closest_ee_minus_button": [
+              -0.0005605845289210071,
+              0.0018436218417096084,
+              0.03498975914568725
+            ],
+            "button_min_z_position": [
+              0.12383104860782622,
+              -0.4410843849182128,
+              0.7685478329658508
+            ],
+            "min_active_finger_to_button": 0.1455669206243919,
+            "closest_active_finger": [
+              -0.0030947551131248474,
+              -0.5035737752914429,
+              0.8109964728355408
+            ],
+            "closest_active_finger_button": [
+              0.12380364537239073,
+              -0.4411048591136931,
+              0.7765848636627197
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1268984004855156,
+              -0.062468916177749745,
+              0.034411609172821045
+            ],
+            "min_contact_pad_to_button": 0.020931231208751844,
+            "closest_contact_pad": [
+              0.12383104860782622,
+              -0.4410843849182128,
+              0.7894790641746027
+            ],
+            "closest_contact_pad_button": [
+              0.12383104860782622,
+              -0.4410843849182128,
+              0.7685478329658508
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020931231208751844
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d28fc156d4847d202fccd211522d74521a9f894aaed32c10e6cc5f84cdda852",
+    "visual_seed": 6889758615550682322,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3efbe5f05ef5237118b4f49335dd138ad0d9fb3e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3515965782534436,
+              -0.044253539859641304,
+              1.0452709527115316
+            ],
+            "current_z": 1.0452709527115316,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18868456451225557,
+            "gripper_z": 1.0474668771687758,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.346976436603615,
+              -0.048703458848583875,
+              1.0474668771687758
+            ],
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+              0.004620141649828602,
+              0.004449918988942571,
+              -0.0021959244572442582
+            ],
+            "object_to_gripper_xy": 0.006414630766664019,
+            "object_to_gripper_z": -0.0021959244572442582,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3515965782534436,
+              -0.06860660208684632,
+              1.0452709527115316
+            ],
+            "finger_b": [
+              0.3406697333915041,
+              -0.044253539859641304,
+              1.0452709527115316
+            ],
+            "finger_midpoint": [
+              0.34613315582247384,
+              -0.05643007097324382,
+              1.0452709527115316
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054634224309697554,
+              0.012176531113602514,
+              0.0
+            ],
+            "finger_gap": 0.02669208831243846,
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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_top_z": 1.0922274990892942,
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+            "object_to_finger_line_xy": 0.009969326107235481,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05079025879155412,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.4212761349637,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35181993125996613,
+              -0.04710417048170336,
+              1.2390928527203795
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+            "held_position": [
+              0.3566255395257453,
+              -0.042898547060651514,
+              1.2368177340532371
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006779181669892375,
+            "max_held_gripper_dist": 0.0067870434489599885,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022751186671423618,
+            "max_held_gripper_z_dist": 0.002279996999732692,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08710299223038875,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3566255395257453,
+              -0.0680028345409216,
+              1.2368177340532371
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+              -0.042898547060651514,
+              1.2368177340532371
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+              0.351984766079118,
+              -0.05545069080078656,
+              1.2368177340532371
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+            "held_grasp_object_position": [
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+              -0.042898547060651514,
+              1.2368177340532371
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+            "held_grasp_finger_gap": 0.026765133338426162,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025124863722340858,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.00239703677773739,
+              -0.9999333991379773,
+              0.011289442105651304
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004672995252750294,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03266004131389777,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+                "beaker_b"
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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"
+              ],
+              "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26841106990818886,
+              -0.3841194983735534,
+              0.8470191260031452
+            ],
+            "target_position": [
+              0.26361517385194744,
+              -0.3853049179100859,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004940226559568394,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18523744539405398,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191260031452,
+            "min_z": 0.5730800627579278,
+            "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": 0.0757291108229262,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08823208801407713,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15312888133033214,
+            "release_required_pad_clearance": 0.054116044007038566,
+            "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": 3.2424807480092617,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008137166500091553,
+            "max_z_decrease": 0.008137166500091553,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505305368588077,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008137166500091553,
+            "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": 0.02097507906071774,
+            "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": 0.008137166500091553,
+            "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": 0.008137219428299532,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11931510269641873,
+              -0.4415663778781891,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11931510269641873,
+              -0.4415663778781891,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11705180441299806,
+              -0.4419048576863954,
+              0.8036484654965176
+            ],
+            "closest_button": [
+              0.119334802031517,
+              -0.44154462218284607,
+              0.7686716914176941
+            ],
+            "closest_ee_minus_button": [
+              -0.0022829976185189393,
+              -0.0003602355035493554,
+              0.03497677407882349
+            ],
+            "button_min_z_position": [
+              0.119334802031517,
+              -0.44154462218284607,
+              0.7686716914176941
+            ],
+            "min_active_finger_to_button": 0.1479999154148116,
+            "closest_active_finger": [
+              -0.02375783771276474,
+              -0.42590510845184326,
+              0.8105783462524414
+            ],
+            "closest_active_finger_button": [
+              0.11931378394365309,
+              -0.44156548380851746,
+              0.7760930061340332
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14307162165641785,
+              0.015660375356674194,
+              0.0344853401184082
+            ],
+            "min_contact_pad_to_button": 0.02097507906071774,
+            "closest_contact_pad": [
+              0.119334802031517,
+              -0.4430797062205036,
+              0.789590521657473
+            ],
+            "closest_contact_pad_button": [
+              0.119334802031517,
+              -0.44154462218284607,
+              0.7686716914176941
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015350840376575081,
+              0.02091883023977892
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f32228b6876c5e830299ef50cdb164b27b51aa6b82a1cd6c7f503de415a42d0",
+    "visual_seed": 6421577539205034886,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..96ea852d1e014d2c00b1d1d8e639fa5bb047c5ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              -0.045410364272169594,
+              1.0476441091628328
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19105754214962245,
+            "gripper_z": 1.0493555776286505,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.35409922109287284,
+              -0.050091311110843195,
+              1.0493555776286505
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+              0.004789778951545365,
+              0.004680946838673601,
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+            "object_to_gripper_xy": 0.006697256580955772,
+            "object_to_gripper_z": -0.0017114684658177115,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3588890000444182,
+              -0.0697118780421089,
+              1.0476441091628328
+            ],
+            "finger_b": [
+              0.3474022114786627,
+              -0.045410364272169594,
+              1.0476441091628328
+            ],
+            "finger_midpoint": [
+              0.3531456057615404,
+              -0.05756112115713925,
+              1.0476441091628328
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057433942828777895,
+              0.012150756884969659,
+              0.0
+            ],
+            "finger_gap": 0.026879543951952044,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013439771975976037,
+            "object_to_finger_midpoint_z": 0.0,
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+            "closest_contact_pad": [
+              0.1241514906287193,
+              -0.450095917279406,
+              0.7893016770117348
+            ],
+            "closest_contact_pad_button": [
+              0.1241514906287193,
+              -0.4469892084598542,
+              0.7683683037757874
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003106708819551829,
+              0.02093337323594746
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4af5c34151a542e57c8401f8ef61371c6399a5a7dec47b2c4843f597bc8f5ac1",
+    "visual_seed": 4914348415145893905,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd8b37941606ceaae642bf254f406ba0ceeff55d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+              -0.04578079257317948,
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+            "gripper_position": [
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+              -0.05013134513781492,
+              1.0511522034696956
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+              -0.0697018953806945,
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+              -0.05774134397693699,
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+              0.0,
+              1.0
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+            "stable_success_frames": 217,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.0014595331474394069,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
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+            "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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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
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+            ],
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+              0.2654495931619663,
+              -0.38322073981516264,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0054459151809921015,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18660064638411328,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194979949492,
+            "min_z": 0.5730800627579278,
+            "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": 0.0756885250198244,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08747281383179038,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15451761190484695,
+            "release_required_pad_clearance": 0.053736406915895193,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4819243182501873,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008113682270050049,
+            "max_z_decrease": 0.008113682270050049,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035039469419948684,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008113682270050049,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021030090956880843,
+            "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": 0.008113682270050049,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00811372279378671,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12114951759576795,
+              -0.4394822120666504,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12114951759576795,
+              -0.4394822120666504,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.119930975895391,
+              -0.4403251768082271,
+              0.8037022432849084
+            ],
+            "closest_button": [
+              0.12116625159978864,
+              -0.4394627809524536,
+              0.7686951756477356
+            ],
+            "closest_ee_minus_button": [
+              -0.0012352757043976315,
+              -0.0008623958557734679,
+              0.03500706763717276
+            ],
+            "button_min_z_position": [
+              0.12116625159978864,
+              -0.4394627809524536,
+              0.7686951756477356
+            ],
+            "min_active_finger_to_button": 0.14689807527519547,
+            "closest_active_finger": [
+              -0.020779907703399658,
+              -0.42376044392585754,
+              0.8112745881080627
+            ],
+            "closest_active_finger_button": [
+              0.12114863842725751,
+              -0.43948236107826233,
+              0.7768049836158752
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14192854613065717,
+              0.015721917152404785,
+              0.0344696044921875
+            ],
+            "min_contact_pad_to_button": 0.021030090956880843,
+            "closest_contact_pad": [
+              0.12116625159978864,
+              -0.4415513143317714,
+              0.7896213017578917
+            ],
+            "closest_contact_pad_button": [
+              0.12116625159978864,
+              -0.4394627809524536,
+              0.7686951756477356
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002088533379317803,
+              0.020926126110156096
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8484b14f0f05ad74359134d133151119e0e3e9c2bbc1e13a8e16ed9ec384899e",
+    "visual_seed": 3706557561896737178,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe935574b619964261016e3e224d890174347bef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35583084740148324,
+              -0.05355100748572588,
+              1.0464185876863825
+            ],
+            "current_z": 1.0464185876863825,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18983213988246173,
+            "gripper_z": 1.0477929863932909,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35154073140601444,
+              -0.05802212787623591,
+              1.0477929863932909
+            ],
+            "object_minus_gripper": [
+              0.004290115995468802,
+              0.004471120390510029,
+              -0.001374398706908364
+            ],
+            "object_to_gripper_xy": 0.0061964516298452475,
+            "object_to_gripper_z": -0.001374398706908364,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35583084740148324,
+              -0.07733169787798169,
+              1.0464185876863825
+            ],
+            "finger_b": [
+              0.3444312339120267,
+              -0.05355100748572588,
+              1.0464185876863825
+            ],
+            "finger_midpoint": [
+              0.35013104065675493,
+              -0.06544135268185379,
+              1.0464185876863825
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056998067447283085,
+              0.01189034519612791,
+              0.0
+            ],
+            "finger_gap": 0.026371811148294837,
+            "fingertip_max_gap": 0.09333113291341968,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013185905574147434,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464185876863825,
+            "object_top_z": 1.0922521732042316,
+            "finger_top_clearance": 0.04583358551784911,
+            "fingertip_min_top_clearance": 0.013750075655354698,
+            "object_projection_between_fingers": 0.8131468863950811,
+            "object_to_finger_line_xy": 0.01027956242594578,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049165566456709844,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0789552871101304,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
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+      1159376154734467498,
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+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6208b42f0aeb7e3b89aa980fae5879cfd9a2083d9cff7400eb3dd37c2182ebf8",
+    "visual_seed": 8752336473123780135,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0725663e928b1c948939c11b46c728a42c9b56e8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+                },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+          "failure_code": null,
+          "failure_messages": {},
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+              "held_object": "beaker_b",
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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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",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+              "ignored": [],
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+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_axis_flip_tolerance_deg": 3.0,
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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_b",
+              "allowed_objects": [
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+                "heater_platform"
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+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
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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",
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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",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00821387767791748,
+            "max_z_decrease": 0.00821387767791748,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503133440827843,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00821387767791748,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020942249835477433,
+            "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": 0.00821387767791748,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008213965004488535,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1192088276147842,
+              -0.4411256909370422,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1192088276147842,
+              -0.4411256909370422,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11858711545265022,
+              -0.43949139464839915,
+              0.8036527887029282
+            ],
+            "closest_button": [
+              0.11923629045486446,
+              -0.44110110402107233,
+              0.7686644792556763
+            ],
+            "closest_ee_minus_button": [
+              -0.0006491750022142445,
+              0.0016097093726731848,
+              0.03498830944725195
+            ],
+            "button_min_z_position": [
+              0.11923835426568981,
+              -0.44110196828842163,
+              0.7685949802398682
+            ],
+            "min_active_finger_to_button": 0.14577473319258824,
+            "closest_active_finger": [
+              -0.007269464433193207,
+              -0.504869818687439,
+              0.8105981349945068
+            ],
+            "closest_active_finger_button": [
+              0.11921119689941401,
+              -0.44112223386764526,
+              0.7761139273643494
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264806613326072,
+              -0.0637475848197937,
+              0.03448420763015747
+            ],
+            "min_contact_pad_to_button": 0.020942249835477433,
+            "closest_contact_pad": [
+              0.11923835426568981,
+              -0.44110196828842163,
+              0.7895372300753456
+            ],
+            "closest_contact_pad_button": [
+              0.11923835426568981,
+              -0.44110196828842163,
+              0.7685949802398682
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020942249835477433
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f2068be46a8b5780731204d44be04ca515853926a5aea2e475b471f9b06f72a1",
+    "visual_seed": 1650252952911214926,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6f975c837d124541eeac859b9b767bb3c3a2bb4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35303156961187954,
+              -0.052289049957145096,
+              1.0489742973163527
+            ],
+            "current_z": 1.0489742973163527,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.19238784951243182,
+            "gripper_z": 1.0508643317458706,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3485342745053853,
+              -0.05678184314662883,
+              1.0508643317458706
+            ],
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+              0.004497295106494215,
+              0.004492793189483736,
+              -0.0018900344295178506
+            ],
+            "object_to_gripper_xy": 0.006356953194602604,
+            "object_to_gripper_z": -0.0018900344295178506,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35303156961187954,
+              -0.07637267682826139,
+              1.0489742973163527
+            ],
+            "finger_b": [
+              0.34179933509915095,
+              -0.052289049957145096,
+              1.0489742973163527
+            ],
+            "finger_midpoint": [
+              0.34741545235551524,
+              -0.06433086339270325,
+              1.0489742973163527
+            ],
+            "object_minus_finger_midpoint": [
+              0.005616117256364295,
+              0.01204181343555815,
+              0.0
+            ],
+            "finger_gap": 0.026574126051783643,
+            "fingertip_max_gap": 0.09680633481453013,
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+            "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": 1.0489742973163527,
+            "object_top_z": 1.0964036642680737,
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+            "fingertip_min_top_clearance": 0.014228810085516285,
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+            "object_to_finger_line_xy": 0.010179561292299718,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05090316740726507,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.929254118700661,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3537770269338487,
+              -0.05597565927987842,
+              1.2437034046817046
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+            "held_position": [
+              0.3585838239922668,
+              -0.051849325263943494,
+              1.241729819196152
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006635282212586123,
+            "max_held_gripper_dist": 0.006639590319498698,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001973585485552487,
+            "max_held_gripper_z_dist": 0.0019743028286360875,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08747686749267748,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3585838239922668,
+              -0.0770992513469569,
+              1.241729819196152
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+              -0.051849325263943494,
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+            "held_grasp_midpoint": [
+              0.3541122627496195,
+              -0.0644742883054502,
+              1.241729819196152
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+            "held_grasp_object_position": [
+              0.3585838239922668,
+              -0.051849325263943494,
+              1.241729819196152
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+            "held_grasp_finger_gap": 0.026786903646831294,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02490999928288378,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03577315749623879,
+              -0.9992077968509981,
+              0.017437313867788348
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004023168480319033,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032425301595194286,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
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+                "beaker_b"
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+                "/World/target_beaker"
+              ],
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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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2658581467662452,
+              -0.3877282703870184,
+              0.8470197353921481
+            ],
+            "target_position": [
+              0.2614656928700514,
+              -0.3887045931187119,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00449965079829642,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1845563602611204,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197353921481,
+            "min_z": 0.5730800627579278,
+            "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": 0.07583524278718663,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08823850591699785,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15198366940187608,
+            "release_required_pad_clearance": 0.054119252958498926,
+            "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": 3.251401567050301,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008154749870300293,
+            "max_z_decrease": 0.008154749870300293,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499137523580026,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008154749870300293,
+            "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": 0.020933277271576695,
+            "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": 0.008154749870300293,
+            "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": 0.008154835882041165,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11716561764478681,
+              -0.44496604800224304,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11716561764478681,
+              -0.44496604800224304,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11661410942605457,
+              -0.4444950319744581,
+              0.8036377083897386
+            ],
+            "closest_button": [
+              0.11719749122858045,
+              -0.44494637846946716,
+              0.7686541080474854
+            ],
+            "closest_ee_minus_button": [
+              -0.000583381802525873,
+              0.0004513464950090529,
+              0.03498360034225323
+            ],
+            "button_min_z_position": [
+              0.11719749122858045,
+              -0.44494637846946716,
+              0.7686541080474854
+            ],
+            "min_active_finger_to_button": 0.14620055995034956,
+            "closest_active_finger": [
+              -0.011038154363632202,
+              -0.5062425136566162,
+              0.8110640048980713
+            ],
+            "closest_active_finger_button": [
+              0.11716838926076885,
+              -0.44496285915374756,
+              0.7766766548156738
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12820654362440104,
+              -0.06127965450286865,
+              0.03438735008239746
+            ],
+            "min_contact_pad_to_button": 0.020933277271576695,
+            "closest_contact_pad": [
+              0.11719749122858045,
+              -0.4458052239395524,
+              0.7895697596459229
+            ],
+            "closest_contact_pad_button": [
+              0.11719749122858045,
+              -0.44494637846946716,
+              0.7686541080474854
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008588454700852455,
+              0.020915651598437557
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0bb3c66ab173316203e524c236a0f31252f47448f47074413dd2efaee07ad42d",
+    "visual_seed": 3323491105232481482,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd7b5e47fa32c054fa3331200c4eca1bc510ed93
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
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+              -0.0535195713924959,
+              1.04882628887779
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+            "current_z": 1.04882628887779,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19223984107386916,
+            "gripper_z": 1.050466276731947,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35350368231475204,
+              -0.05815922017398324,
+              1.050466276731947
+            ],
+            "object_minus_gripper": [
+              0.004769463929166773,
+              0.004639648781487343,
+              -0.0016399878541570878
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+            "object_to_gripper_xy": 0.006653880596101792,
+            "object_to_gripper_z": -0.0016399878541570878,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3582731462439188,
+              -0.07785943915190247,
+              1.04882628887779
+            ],
+            "finger_b": [
+              0.34691539185546355,
+              -0.0535195713924959,
+              1.04882628887779
+            ],
+            "finger_midpoint": [
+              0.35259426904969116,
+              -0.06568950527219919,
+              1.04882628887779
+            ],
+            "object_minus_finger_midpoint": [
+              0.005678877194227661,
+              0.01216993387970329,
+              0.0
+            ],
+            "finger_gap": 0.026859407054026233,
+            "fingertip_max_gap": 0.0943557653271466,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013429703527013134,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
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+              0.7897951889763194
+            ],
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+              0.12427537888288495,
+              -0.4409822225570678,
+              0.7687728404998779
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002989450293068685,
+              0.021022348476441466
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "36287753bd461612af43c4d99b9a339f197c83e5ff0e9ebb4d3830c36b19ffc8",
+    "visual_seed": 6426934370748587219,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eab2d0966f8e6cfa360e555a139c1055d49d2fd1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_89_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              -0.051587276215746714,
+              1.0470266814280924
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+            "gripper_position": [
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+              -0.056126487121050325,
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+              -0.07569185754965696,
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+              -0.051587276215746714,
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+              -0.06363956688270184,
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+              0.012052290666955123,
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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,
+              1.0
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+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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,
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+            "disturbances": [],
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+                {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_held_gripper_z_dist": 0.00180407153744655,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
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+        "gripper": null,
+        "post_done_wait_frames": 0,
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+        "attach_object": null,
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+        "attach_allowed": false,
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+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
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+              0.2627894193380633,
+              -0.3819972541270141,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006507745413460282,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18784813456893754,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201143015874,
+            "min_z": 0.5730800627579278,
+            "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": 0.07586208680991574,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08892038900702255,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15539035616284808,
+            "release_required_pad_clearance": 0.05446019450351128,
+            "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": 3.947156147657685,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008115231990814209,
+            "max_z_decrease": 0.008115231990814209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505315989232568,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008115231990814209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021113768895963614,
+            "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": 0.008115231990814209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008115275202740278,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11848934739828111,
+              -0.43825870752334595,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11848934739828111,
+              -0.43825870752334595,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11745374570214603,
+              -0.4399197983762948,
+              0.8036906262603128
+            ],
+            "closest_button": [
+              0.11850756406784059,
+              -0.4382394850254059,
+              0.7686936259269714
+            ],
+            "closest_ee_minus_button": [
+              -0.001053818365694556,
+              -0.0016803133508889179,
+              0.03499700033334141
+            ],
+            "button_min_z_position": [
+              0.11850756406784059,
+              -0.4382394850254059,
+              0.7686936259269714
+            ],
+            "min_active_finger_to_button": 0.1467121870872791,
+            "closest_active_finger": [
+              -0.02354300022125244,
+              -0.4257144331932068,
+              0.8107747435569763
+            ],
+            "closest_active_finger_button": [
+              0.11849132925271988,
+              -0.43825685977935785,
+              0.7762290835380554
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14203432947397232,
+              0.012542426586151068,
+              0.0345456600189209
+            ],
+            "min_contact_pad_to_button": 0.021113768895963614,
+            "closest_contact_pad": [
+              0.11850756406784059,
+              -0.4409372870546196,
+              0.7896343303373615
+            ],
+            "closest_contact_pad_button": [
+              0.11850756406784059,
+              -0.4382394850254059,
+              0.7686936259269714
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002697802029213714,
+              0.020940704410390087
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a708aecc2bfdbcb5fca9cf630950dfa3d26b2f2dfd9bc0cd8f6bce16d5567e20",
+    "visual_seed": 3921628321933483706,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..17d3ad4aeecc398a11d7b7354399bb77d15293e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3603426776921298,
+              -0.05077079974791546,
+              1.0485180996745624
+            ],
+            "current_z": 1.0485180996745624,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19193165187064165,
+            "gripper_z": 1.050436107650357,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35548391622453074,
+              -0.05544281251597462,
+              1.050436107650357
+            ],
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+              0.00485876146759906,
+              0.004672012768059161,
+              -0.0019180079757945556
+            ],
+            "object_to_gripper_xy": 0.006740568692917029,
+            "object_to_gripper_z": -0.0019180079757945556,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3603426776921298,
+              -0.07514150302277554,
+              1.0485180996745624
+            ],
+            "finger_b": [
+              0.3489034049529669,
+              -0.05077079974791546,
+              1.0485180996745624
+            ],
+            "finger_midpoint": [
+              0.35462304132254835,
+              -0.0629561513853455,
+              1.0485180996745624
+            ],
+            "object_minus_finger_midpoint": [
+              0.005719636369581449,
+              0.012185351637430036,
+              0.0
+            ],
+            "finger_gap": 0.026921889586584213,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013460944793292101,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485180996745624,
+            "object_top_z": 1.095735828591746,
+            "finger_top_clearance": 0.047217728917183566,
+            "fingertip_min_top_clearance": 0.014165318675155069,
+            "object_projection_between_fingers": 0.8194548809844673,
+            "object_to_finger_line_xy": 0.010355258337633863,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051145871036188714,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.587691346042891,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b6ca4c77a65659c297cf67986e1727bf0e9f573bd7f1451f5b23adc4eda497a",
+    "visual_seed": 492218824173970900,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a82fc9a7ed95108329e3547c60aee9ae4b2e0e73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              -0.05148869647943112,
+              1.0461290227850464
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+            "gripper_position": [
+              0.35456720706801015,
+              -0.05606705351449835,
+              1.047763104502481
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+              0.004578357035067232,
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+            "object_to_gripper_z": -0.0016340817174345101,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3592359804279674,
+              -0.07577040186653086,
+              1.0461290227850464
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+              -0.05148869647943112,
+              1.0461290227850464
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+              0.35361068446027166,
+              -0.063629549172981,
+              1.0461290227850464
+            ],
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+              0.012140852693549878,
+              0.0
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+              0.0,
+              1.0
+            ],
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+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
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+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.054868850696411176,
+              1.2374125694907
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+              -0.050607218177237186,
+              1.235686919689129
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0017284361627418754,
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+              1.235686919689129
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+              -0.06320468503122949,
+              1.235686919689129
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+              -0.050607218177237186,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.025027478816683782,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9998322938052537,
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+            "held_grasp_object_projection_between_fingers": 0.5,
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "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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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15273704686939568,
+            "release_required_pad_clearance": 0.053900781665106964,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8113910335314767,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "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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+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008165299892425537,
+            "max_z_decrease": 0.008165299892425537,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505537490480332,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008165299892425537,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020916668214704816,
+            "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": 0.008165299892425537,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008165393237171189,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12537525594234467,
+              -0.4439435005187988,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12537525594234467,
+              -0.4439435005187988,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12706559361014158,
+              -0.44327433450193554,
+              0.8036536281487269
+            ],
+            "closest_button": [
+              0.12540385127067566,
+              -0.44391691684722895,
+              0.7686435580253601
+            ],
+            "closest_ee_minus_button": [
+              0.0016617423394659214,
+              0.0006425823452934076,
+              0.035010070123366765
+            ],
+            "button_min_z_position": [
+              0.12540385127067566,
+              -0.44391691684722895,
+              0.7686435580253601
+            ],
+            "min_active_finger_to_button": 0.1440992480558956,
+            "closest_active_finger": [
+              -0.0004971250891685486,
+              -0.505135178565979,
+              0.810609757900238
+            ],
+            "closest_active_finger_button": [
+              0.12537483870983124,
+              -0.4439417123794555,
+              0.7763139605522156
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1258719637989998,
+              -0.06119346618652349,
+              0.03429579734802246
+            ],
+            "min_contact_pad_to_button": 0.020916668214704816,
+            "closest_contact_pad": [
+              0.12540385127067566,
+              -0.44457067667368605,
+              0.7895500069656597
+            ],
+            "closest_contact_pad_button": [
+              0.12540385127067566,
+              -0.44391691684722895,
+              0.7686435580253601
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000653759826457101,
+              0.020906448940299582
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "faef9c82cf0b0de0af984f4cd59c7e963a5b7780964704f9c0f4567029f4ba3c",
+    "visual_seed": 4727091047005179214,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc1fa564a85cdde1e19aa9cc70e849352b9ba87
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3523767997047704,
+              -0.04795929348989447,
+              1.0462585454418318
+            ],
+            "current_z": 1.0462585454418318,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18967209763791104,
+            "gripper_z": 1.0486818500655315,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3475622704385156,
+              -0.052607825615002435,
+              1.0486818500655315
+            ],
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+              0.004814529266254808,
+              0.0046485321251079625,
+              -0.0024233046236996625
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+            "object_to_gripper_xy": 0.006692424297202383,
+            "object_to_gripper_z": -0.0024233046236996625,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3523767997047704,
+              -0.0723866440947299,
+              1.0462585454418318
+            ],
+            "finger_b": [
+              0.3410980205553863,
+              -0.04795929348989447,
+              1.0462585454418318
+            ],
+            "finger_midpoint": [
+              0.34673741013007836,
+              -0.06017296879231219,
+              1.0462585454418318
+            ],
+            "object_minus_finger_midpoint": [
+              0.005639389574692066,
+              0.012213675302417716,
+              0.0
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+            "finger_gap": 0.026905507181098375,
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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_to_finger_line_xy": 0.010239936784022621,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050725987754057414,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.759227268280584,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35211599002220295,
+              -0.05050884782937155,
+              1.2385587059440029
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+            "held_position": [
+              0.3571036976958025,
+              -0.04608516277500708,
+              1.2360665873746484
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0071173641371798015,
+            "max_held_gripper_dist": 0.007120078899474364,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024921185693544956,
+            "max_held_gripper_z_dist": 0.002493726536123786,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866331224993936,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.3571036976958025,
+              -0.0711491722006484,
+              1.2360665873746484
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+              -0.058617167487827734,
+              1.2360665873746484
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+            "held_grasp_object_position": [
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+              -0.04608516277500708,
+              1.2360665873746484
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+            "held_grasp_finger_gap": 0.026909036685081992,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025219483475900705,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9998672919727091,
+              -0.0015553953852096565
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005098835139667324,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03274928347336668,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2720523555644198,
+              -0.3859804182028518,
+              0.8470196075011671
+            ],
+            "target_position": [
+              0.2674261076086311,
+              -0.38784999179665197,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004989737024240262,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18563714042461546,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196075011671,
+            "min_z": 0.5730800627579278,
+            "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": 0.07569166048072262,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09051100059099705,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15376589863874182,
+            "release_required_pad_clearance": 0.05525550029549853,
+            "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": 5.617214564900722,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.008064627647399902,
+            "max_z_decrease": 0.008064627647399902,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351196391792711,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008064627647399902,
+            "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": 0.021116967791991622,
+            "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": 0.008064627647399902,
+            "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": 0.00806464122532023,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1231260299682617,
+              -0.4441114366054535,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1231260299682617,
+              -0.4441114366054535,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12210541590163945,
+              -0.445233562143452,
+              0.80823785962487
+            ],
+            "closest_button": [
+              0.12312355637550353,
+              -0.44410771131515503,
+              0.7731510400772095
+            ],
+            "closest_ee_minus_button": [
+              -0.0010181404738640737,
+              -0.0011258508282969704,
+              0.035086819547660575
+            ],
+            "button_min_z_position": [
+              0.12312202155590055,
+              -0.4440971910953522,
+              0.7687442302703857
+            ],
+            "min_active_finger_to_button": 0.1470793232772175,
+            "closest_active_finger": [
+              -0.018979378044605255,
+              -0.42819133400917053,
+              0.8109601736068726
+            ],
+            "closest_active_finger_button": [
+              0.12312573194503781,
+              -0.44411101937294006,
+              0.7765359282493591
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14210510998964307,
+              0.01591968536376953,
+              0.03442424535751343
+            ],
+            "min_contact_pad_to_button": 0.021116967791991622,
+            "closest_contact_pad": [
+              0.12312202155590055,
+              -0.4464189815295683,
+              0.7897331706416287
+            ],
+            "closest_contact_pad_button": [
+              0.12312202155590055,
+              -0.4440971910953522,
+              0.7687442302703857
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023217904342161533,
+              0.020988940371242992
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "233a50259a35114dbedee98d60ef681e3c01a3b6fc18fa3d23dd03adea32882f",
+    "visual_seed": 578203684338375332,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..055c04d81258448963f69813255fac0fbe432423
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35754430545886634,
+              -0.04923052687079027,
+              1.0442685013053592
+            ],
+            "current_z": 1.0442685013053592,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18768199389679363,
+            "gripper_z": 1.0477734582843548,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3527436676879585,
+              -0.053773808853458296,
+              1.0477734582843548
+            ],
+            "object_minus_gripper": [
+              0.004800637770907834,
+              0.0045432819826680265,
+              -0.003504956978995555
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+            "object_to_gripper_xy": 0.0066096546189269864,
+            "object_to_gripper_z": -0.003504956978995555,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35754430545886634,
+              -0.07359592014335546,
+              1.0442685013053592
+            ],
+            "finger_b": [
+              0.3463289759144338,
+              -0.04923052687079027,
+              1.0442685013053592
+            ],
+            "finger_midpoint": [
+              0.3519366406866501,
+              -0.061413223507072866,
+              1.0442685013053592
+            ],
+            "object_minus_finger_midpoint": [
+              0.005607664772216248,
+              0.012182696636282596,
+              0.0
+            ],
+            "finger_gap": 0.026822677087065466,
+            "fingertip_max_gap": 0.09751487792903527,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013411338543532722,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0442685013053592,
+            "object_top_z": 1.0913183396378197,
+            "finger_top_clearance": 0.04704983833246046,
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+              -0.439393401145935,
+              0.7686977982521057
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019453184569867554,
+              0.020961323679264843
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e08184002f4b2d6b20885292a9c90bb39025f348214a9ef239ad58e2899a01a6",
+    "visual_seed": 2143885688310620478,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03f2b8124a6ac28f3f77d295490546fbac07b8ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              -0.05133816621845606,
+              1.0468261718857796
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+            "gripper_position": [
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+              -0.05595682478973894,
+              1.0488297038311678
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+              0.00461865857128288,
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+              0.3522615019470492,
+              -0.07543988969821025,
+              1.0468261718857796
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+              1.0468261718857796
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+              -0.06338902795833315,
+              1.0468261718857796
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+              0.012050861739877086,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
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+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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": [],
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0020927811444502176,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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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+                  "b": "/World/target_beaker/mesh"
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+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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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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+    },
+    {
+      "step_index": 2,
+      "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_b",
+            "target": "heater_platform",
+            "object_position": [
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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005661124574070545,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18455048130437557,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199442392224,
+            "min_z": 0.5730800627579278,
+            "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": 0.07551262292998631,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08712834898801484,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15303293346785077,
+            "release_required_pad_clearance": 0.053564174494007424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1379884712618447,
+            "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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_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": 3,
+      "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": 0.00817018747329712,
+            "max_z_decrease": 0.00817018747329712,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503614137119117,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00817018747329712,
+            "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": 0.02093977946546388,
+            "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": 0.00817018747329712,
+            "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": 0.00817023323646315,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12189295142889021,
+              -0.4407751858234405,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12189295142889021,
+              -0.4407751858234405,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12133204285875834,
+              -0.43920130119081463,
+              0.8036357025913653
+            ],
+            "closest_button": [
+              0.12190844863653182,
+              -0.4407526552677154,
+              0.7686386704444885
+            ],
+            "closest_ee_minus_button": [
+              -0.0005764057777734727,
+              0.0015513540769007683,
+              0.03499703214687677
+            ],
+            "button_min_z_position": [
+              0.12190844863653182,
+              -0.4407526552677154,
+              0.7686386704444885
+            ],
+            "min_active_finger_to_button": 0.14572981783548405,
+            "closest_active_finger": [
+              -0.005089700222015381,
+              -0.5034380555152893,
+              0.8105041980743408
+            ],
+            "closest_active_finger_button": [
+              0.12189392000436781,
+              -0.44077211618423456,
+              0.7760757207870483
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1269836202263832,
+              -0.06266593933105474,
+              0.03442847728729248
+            ],
+            "min_contact_pad_to_button": 0.02093977946546388,
+            "closest_contact_pad": [
+              0.12190844863653182,
+              -0.4407526552677154,
+              0.7895784499099524
+            ],
+            "closest_contact_pad_button": [
+              0.12190844863653182,
+              -0.4407526552677154,
+              0.7686386704444885
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02093977946546388
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8055f52cd7f7b33257acc67665037d777964880432d7ab73b999ece5c9451ef4",
+    "visual_seed": 7488772499207850942,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..207085ff6930726c6d974a6c434f6936cb0a560c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3587499355829975,
+              -0.04864019113387951,
+              1.0480112958342709
+            ],
+            "current_z": 1.0480112958342709,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1914248480303501,
+            "gripper_z": 1.0494080329485318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3543663491860014,
+              -0.053122064452767556,
+              1.0494080329485318
+            ],
+            "object_minus_gripper": [
+              0.0043835863969960975,
+              0.004481873318888045,
+              -0.0013967371142609153
+            ],
+            "object_to_gripper_xy": 0.006269211923877655,
+            "object_to_gripper_z": -0.0013967371142609153,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3587499355829975,
+              -0.0725590987030499,
+              1.0480112958342709
+            ],
+            "finger_b": [
+              0.34742401374801346,
+              -0.04864019113387951,
+              1.0480112958342709
+            ],
+            "finger_midpoint": [
+              0.3530869746655055,
+              -0.0605996449184647,
+              1.0480112958342709
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056629609174920215,
+              0.01195945378458519,
+              0.0
+            ],
+            "finger_gap": 0.02646489457214377,
+            "fingertip_max_gap": 0.09399485079180533,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013232447286071883,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480112958342709,
+            "object_top_z": 1.0940656460401224,
+            "finger_top_clearance": 0.04605435020585147,
+            "fingertip_min_top_clearance": 0.013816305061755407,
+            "object_projection_between_fingers": 0.8168500587776643,
+            "object_to_finger_line_xy": 0.010236340702893944,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04949742539590267,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3267964434574777,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cee767d13952f4e419fabba5b3890405c7420b268939255e0515a4e0fdad3422",
+    "visual_seed": 3148739971924066648,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95ab8e4122cc5227652480aa419f1835c6267e43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "target": "beaker_b",
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+              -0.04909847988446342,
+              1.0462713345781383
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+              -0.05358339608927021,
+              1.0478731032169981
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+              0.004484916204806788,
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+            "object_to_gripper_z": -0.0016017686388598573,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.07289097501714016,
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+              -0.04909847988446342,
+              1.0462713345781383
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+              0.3450221050898775,
+              -0.06099472745080179,
+              1.0462713345781383
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+              0.01189624756633837,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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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/target_beaker/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/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.05290541293184205,
+              1.2399791474436064
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+              -0.04885725388342755,
+              1.238289705383001
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+            "required_gripper_z": 0.8930800627579277,
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+            "held_shake_count": 5,
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+              -0.0614810508092483,
+              1.238289705383001
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+              -0.04885725388342755,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.02473729752612767,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9985274330105056,
+              0.001054668641210954
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+            "held_grasp_object_to_finger_line_xy": 0.003670330848509141,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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": [
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15381048446180579,
+            "release_required_pad_clearance": 0.0531731407797842,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3699977478092524,
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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_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "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": 0.008233964443206787,
+            "max_z_decrease": 0.008233964443206787,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498826328882497,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008233964443206787,
+            "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": 0.02094578919443974,
+            "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": 0.008233964443206787,
+            "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": 0.00823405464807576,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1253935843706131,
+              -0.4385823309421539,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1253935843706131,
+              -0.4385823309421539,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12491656607865592,
+              -0.4385631542393849,
+              0.8036283812050447
+            ],
+            "closest_button": [
+              0.12542390823364258,
+              -0.43856215476989735,
+              0.7686437964439392
+            ],
+            "closest_ee_minus_button": [
+              -0.0005073421549866564,
+              -9.994694875614663e-07,
+              0.03498458476110544
+            ],
+            "button_min_z_position": [
+              0.12542593479156494,
+              -0.4385613799095153,
+              0.7685748934745789
+            ],
+            "min_active_finger_to_button": 0.1462906992347163,
+            "closest_active_finger": [
+              -0.015958353877067566,
+              -0.4233194589614868,
+              0.8110591173171997
+            ],
+            "closest_active_finger_button": [
+              0.12539455294609067,
+              -0.43858018517494196,
+              0.7765999436378479
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14135290682315824,
+              0.015260726213455145,
+              0.03445917367935181
+            ],
+            "min_contact_pad_to_button": 0.02094578919443974,
+            "closest_contact_pad": [
+              0.12542593479156494,
+              -0.439675362842699,
+              0.7894910386022663
+            ],
+            "closest_contact_pad_button": [
+              0.12542593479156494,
+              -0.4385613799095153,
+              0.7685748934745789
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011139829331836548,
+              0.02091614512768747
+            ]
+          },
+          "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": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "workflow_spec_digest": "cce4932770d13e18411712883344951ef43776511f5f09039a53b7528b78bb57",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad78d15a0143435fc0aa8dfc193622f7e96f97c5715d9b3c459085ad0a17f891",
+    "visual_seed": 4013316750035829091,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498,
+      6013251277256419500
+    ],
+    "runtime_workflow_digest": "3adb181454007a2399de933e242da38385ecf637b6fa4cc5e99f7ce9784edb3c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0555004c3d3225cf05f23fe2fb69e2b6337474b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00016/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.357577769113879,
+              -0.049123901609709794,
+              1.0488888890919348
+            ],
+            "current_z": 1.0488888890919348,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.192302441288014,
+            "gripper_z": 1.0505561274122612,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35295341397845814,
+              -0.053728150095453786,
+              1.0505561274122612
+            ],
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+              0.004624355135420866,
+              0.004604248485743992,
+              -0.0016672383203264474
+            ],
+            "object_to_gripper_xy": 0.006525623689500428,
+            "object_to_gripper_z": -0.0016672383203264474,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.357577769113879,
+              -0.07333612467158221,
+              1.0488888890919348
+            ],
+            "finger_b": [
+              0.3462407384402681,
+              -0.049123901609709794,
+              1.0488888890919348
+            ],
+            "finger_midpoint": [
+              0.35190925377707355,
+              -0.061230013140646,
+              1.0488888890919348
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056685153368054575,
+              0.012106111530936207,
+              0.0
+            ],
+            "finger_gap": 0.026734995980778848,
+            "fingertip_max_gap": 0.09500957692918585,
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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_to_finger_line_xy": 0.01026724356817207,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05000478846459293,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9722338308971095,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_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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+                {
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+                  "b": "/World/target_beaker/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/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3580891761925924,
+              -0.05274672530090896,
+              1.2401134424281417
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+            "held_position": [
+              0.36299314306099995,
+              -0.048488633932528516,
+              1.2383504210709655
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+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006729671422422823,
+            "max_held_gripper_dist": 0.0067355135651078835,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0017630213571762088,
+            "max_held_gripper_z_dist": 0.0017656819220477349,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08706583956810224,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.36299314306099995,
+              -0.07370860144631064,
+              1.2383504210709655
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+              0.35841892383331486,
+              -0.06109861768941958,
+              1.2383504210709655
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+            "held_grasp_object_position": [
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+              -0.048488633932528516,
+              1.2383504210709655
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+            "held_grasp_finger_gap": 0.0268279832929708,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025000812608538307,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.023211973920900325,
+              -0.9997303093115768,
+              -0.000716177683732333
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004280293770134382,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03248746534669861,
+            "held_grasp_min_top_clearance": 0.013560067489743232
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+}
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