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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c8c2bfa586d76cb2d70b368b2bad970ee54320c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2699fd796ed68f14506a9a478e94babb1c3431d4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/resolved_config.yaml
@@ -0,0 +1,318 @@
+name: lab3_heat_2beaker_s06_polplr_htf_00053
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Pour beaker a into beaker b and
+    return it upright. Place beaker a at home. Pick up beaker b from home. Place beaker
+    b on the heater platform. Press the heater button to start heating.
+  layout_id: layout_00053
+  reproducibility:
+    enabled: true
+    layout_id: layout_00053
+    action_seed: 6843919548868063803
+    step_seeds:
+    - 5199353700918230458
+    - 1290258848948700541
+    - 5893590780811652695
+    - 2449246150117278785
+    - 2247268171952805441
+    - 6185228844831420462
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3437
+      - 0.3437
+      'y':
+      - 0.2651
+      - 0.2651
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2966
+      - 0.2966
+      'y':
+      - 0.3654
+      - 0.3654
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.313
+      - 0.313
+      'y':
+      - 0.0633
+      - 0.0633
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2707
+      - 0.2707
+      'y':
+      - -0.3557
+      - -0.3557
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_a
+    target_key: beaker_a_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - 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: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053
+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_s06_polplr_htf_00053/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..55f57033d4536e1687aa5c3d965e4034e8352e1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_0_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3729611025572743,
+              0.2645930009972004,
+              1.006068790537132
+            ],
+            "current_z": 1.006068790537132,
+            "required_z": 0.8611066063802196,
+            "initial_z": 0.7611066063802197,
+            "lift_margin": 0.1449621841569123,
+            "gripper_z": 1.003696080637999,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.367795217542785,
+              0.2597428190038281,
+              1.003696080637999
+            ],
+            "object_minus_gripper": [
+              0.005165885014489335,
+              0.004850181993372282,
+              0.002372709899132852
+            ],
+            "object_to_gripper_xy": 0.007085946186061408,
+            "object_to_gripper_z": 0.002372709899132852,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3729611025572743,
+              0.23997381096760967,
+              1.006068790537132
+            ],
+            "finger_b": [
+              0.361259264881617,
+              0.2645930009972004,
+              1.006068790537132
+            ],
+            "finger_midpoint": [
+              0.3671101837194457,
+              0.25228340598240506,
+              1.006068790537132
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058509188378286225,
+              0.012309595014795338,
+              0.0
+            ],
+            "finger_gap": 0.027258714619375075,
+            "fingertip_max_gap": 0.09123347164863307,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0136293573096875,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.006068790537132,
+            "object_top_z": 1.0560032708552811,
+            "finger_top_clearance": 0.04993448031814918,
+            "fingertip_min_top_clearance": 0.014980344095444752,
+            "object_projection_between_fingers": 0.8157118573369531,
+            "object_to_finger_line_xy": 0.010568721579691106,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811673582431654,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8248337780179129,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3154307665314159,
+              0.3606264051262634,
+              0.7565862689899863
+            ],
+            "gripper_position": [
+              0.3225533412515042,
+              0.3295609319640573,
+              1.031101758313345
+            ],
+            "target_minus_gripper": [
+              -0.007122574720088315,
+              0.031065473162206148,
+              -0.2745154893233588
+            ],
+            "held_position": [
+              0.32761071098108974,
+              0.33456204487868596,
+              1.0334274430676107
+            ],
+            "held_minus_target": [
+              0.012179944449673852,
+              -0.026064360247577467,
+              0.27684117407762443
+            ],
+            "held_minus_gripper": [
+              0.005057369729585537,
+              0.00500111291462868,
+              0.0023256847542656445
+            ],
+            "xy_dist": 0.03187153421840548,
+            "held_xy_dist": 0.028769809208832743,
+            "held_gripper_dist": 0.007483109550368584,
+            "max_held_gripper_dist": 0.007554289894886046,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565862689899863,
+            "held_z": 1.0334274430676107,
+            "required_height": 0.7865862689899863,
+            "gripper_z": 1.031101758313345,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.19977954233792,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.31563399572489126,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.4925057778420703,
+            "max_source_tilt_deg": 89.94072573254532,
+            "source_upright_tilt_deg": 2.7415907879058485,
+            "max_source_upright_tilt_deg": 89.8596828460912,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.4925057778420703,
+            "source_upright_return_tilt_deg": 2.7415907879058485,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.504090976179823e-07,
+            "max_target_xy_drift": 1.5887740774295162e-06,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3154,
+                0.3606,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.3154,
+                0.3606,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.002,
+                -0.0001,
+                -0.0006
+              ],
+              "controller_last_pour_pose_position": [
+                0.3174,
+                0.3354,
+                1.0212
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0649,
+                0.0603,
+                0.0904
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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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",
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+                "joint3",
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+                "left_inner_finger",
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+                "mobile_translate_x",
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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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+            },
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+              "source_missing": false,
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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,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.33069074096705153,
+              -0.35541596023759314,
+              0.8470197367123371
+            ],
+            "target_position": [
+              0.32163241276993493,
+              -0.35765905232077927,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009331922193220968,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1880944476685204,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197367123371,
+            "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": 0.07535199760420783,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08519101662323651,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1569970802063618,
+            "release_required_pad_clearance": 0.05259550831161826,
+            "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": 0.25333592111104647,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008181273937225342,
+            "max_z_decrease": 0.008181273937225342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035020375221415635,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008181273937225342,
+            "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": 0.0211701150039129,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008181273937225342,
+            "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": 0.008182111694571446,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17733234167098988,
+              -0.413920521736145,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17733234167098988,
+              -0.413920521736145,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17874603368973366,
+              -0.41337685462712054,
+              0.8037532889709422
+            ],
+            "closest_button": [
+              0.17722745239734639,
+              -0.4139023423194886,
+              0.7687698006629944
+            ],
+            "closest_ee_minus_button": [
+              0.0015185812923872721,
+              0.0005254876923680429,
+              0.03498348830794784
+            ],
+            "button_min_z_position": [
+              0.17721785604953755,
+              -0.41389599442481995,
+              0.7686275839805603
+            ],
+            "min_active_finger_to_button": 0.14449640937961472,
+            "closest_active_finger": [
+              0.05096045136451721,
+              -0.4747562110424042,
+              0.8089439272880554
+            ],
+            "closest_active_finger_button": [
+              0.17734497785568226,
+              -0.4139285683631897,
+              0.7742140889167786
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12638452649116505,
+              -0.06082764267921448,
+              0.034729838371276855
+            ],
+            "min_contact_pad_to_button": 0.0211701150039129,
+            "closest_contact_pad": [
+              0.17721785604953755,
+              -0.414692519066874,
+              0.7897827090752861
+            ],
+            "closest_contact_pad_button": [
+              0.17721785604953755,
+              -0.41389599442481995,
+              0.7686275839805603
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007965246420540417,
+              0.021155125094725835
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1569c6e0b28b890af92f24a419bb0907d9c271176e5da998b59bda21a62ce065",
+    "visual_seed": 2891222413093682411,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..081f86ffce4f1fd3519c23435b9e9f2f556d3745
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_100_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36530276345875223,
+              0.2671488576664218,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008305728435516357,
+            "max_z_decrease": 0.008305728435516357,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500811533076897,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008305728435516357,
+            "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": 0.021018655433583288,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008305728435516357,
+            "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": 0.008306300101549082,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1818424761295318,
+              -0.4132103323936463,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1818424761295318,
+              -0.4132103323936463,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.180747677209586,
+              -0.41214204845911934,
+              0.8041856287520045
+            ],
+            "closest_button": [
+              0.1817465424537658,
+              -0.41321608424186707,
+              0.7692082524299622
+            ],
+            "closest_ee_minus_button": [
+              -0.000998865244179803,
+              0.0010740357827477287,
+              0.03497737632204234
+            ],
+            "button_min_z_position": [
+              0.18174508213996882,
+              -0.4132136404514313,
+              0.7685031294822693
+            ],
+            "min_active_finger_to_button": 0.14643113358214174,
+            "closest_active_finger": [
+              0.053940922021865845,
+              -0.4756091237068176,
+              0.8091922998428345
+            ],
+            "closest_active_finger_button": [
+              0.18184648454189295,
+              -0.41322004795074463,
+              0.7746981382369995
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1279055625200271,
+              -0.062389075756073,
+              0.03449416160583496
+            ],
+            "min_contact_pad_to_button": 0.021018655433583288,
+            "closest_contact_pad": [
+              0.18174508213996882,
+              -0.413238926466629,
+              0.7895217697059644
+            ],
+            "closest_contact_pad_button": [
+              0.18174508213996882,
+              -0.4132136404514313,
+              0.7685031294822693
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -2.5286015197745204e-05,
+              0.02101864022369515
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d27e400f6f9a36cc85f5a12a8152088c6846bc020ee82162df6bbf3873605d8",
+    "visual_seed": 3203450759181153373,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..68b52321536ce0eec335e0662241c3999bf18c7a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_101_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37212453800164613,
+              0.2694230346061451,
+              1.0074408961876027
+            ],
+            "current_z": 1.0074408961876027,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1463342093589024,
+            "gripper_z": 1.005464090933221,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3669794883491822,
+              0.2646639428042794,
+              1.005464090933221
+            ],
+            "object_minus_gripper": [
+              0.005145049652463929,
+              0.004759091801865678,
+              0.0019768052543815973
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+            "object_to_gripper_xy": 0.007008601194596844,
+            "object_to_gripper_z": 0.0019768052543815973,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37212453800164613,
+              0.2446997157518549,
+              1.0074408961876027
+            ],
+            "finger_b": [
+              0.3607221572356962,
+              0.2694230346061451,
+              1.0074408961876027
+            ],
+            "finger_midpoint": [
+              0.3664233476186711,
+              0.25706137517899996,
+              1.0074408961876027
+            ],
+            "object_minus_finger_midpoint": [
+              0.005701190382975008,
+              0.012361659427145122,
+              0.0
+            ],
+            "finger_gap": 0.027226031335885262,
+            "fingertip_max_gap": 0.09195586947896525,
+            "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": 1.0074408961876027,
+            "object_top_z": 1.0573607894428785,
+            "finger_top_clearance": 0.04991989325527579,
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+            "object_projection_between_fingers": 0.8246029038306603,
+            "object_to_finger_line_xy": 0.010354233854239427,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847793473948263,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.592722683090167,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 183,
+            "max_stable_success_frames": 183,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3139574589218578,
+              0.36872220600288075,
+              0.756586388199276
+            ],
+            "gripper_position": [
+              0.32055091658618046,
+              0.33541256685489707,
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+              0.17775484919548032,
+              -0.41061332821846,
+              0.7683234810829163
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010904834947119135,
+              0.020898193969772327
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1bee1c383ea67249adc2bb42be817c5017f5b7ad20893c14c5fdf74619e872f",
+    "visual_seed": 5219118508661944563,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7736d425a3ce0b337c33affefdcd6371416bff5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_102_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3688268182135602,
+              0.26261060009178394,
+              1.0046025685392186
+            ],
+            "current_z": 1.0046025685392186,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.1434958817105182,
+            "gripper_z": 1.0023525654615255,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36440110211132704,
+              0.2580431030069883,
+              1.0023525654615255
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+              0.00442571610223319,
+              0.004567497084795646,
+              0.0022500030776930746
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+            "object_to_gripper_z": 0.0022500030776930746,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3688268182135602,
+              0.23867712007207176,
+              1.0046025685392186
+            ],
+            "finger_b": [
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+              0.26261060009178394,
+              1.0046025685392186
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+            "finger_midpoint": [
+              0.36308257054540594,
+              0.25064386008192785,
+              1.0046025685392186
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+              0.00574424766815429,
+              0.011966740009856092,
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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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+            "object_projection_between_fingers": 0.8127325644294209,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04756581483999932,
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+              0.0,
+              1.0
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+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.756586388199276
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+              0.33266059588825947,
+              1.0333355877912072
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+              0.004556398597921341,
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+            "max_held_gripper_dist": 0.006836534083797597,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21635641145355,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_tilt_deg": 89.94491834393865,
+            "source_upright_tilt_deg": 2.456249986543642,
+            "max_source_upright_tilt_deg": 89.98995124744181,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.364779018472067,
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+            "target_xy_drift": 8.940696716308594e-08,
+            "max_target_xy_drift": 3.332000937312528e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                0.3658,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+              ],
+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_controller_target_position": [
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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/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.33293624350131645,
+              -0.3505857994620711,
+              0.8470197306514899
+            ],
+            "target_position": [
+              0.32399734742702613,
+              -0.3532001263931824,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00931335430066401,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18873370961394112,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197306514899,
+            "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": 0.07524873947141276,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498346787084791,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1578137694484922,
+            "release_required_pad_clearance": 0.05249173393542396,
+            "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": 0.055949805098087765,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00838083028793335,
+            "max_z_decrease": 0.00838083028793335,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505107073324321,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00838083028793335,
+            "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": 0.02114532009534864,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00838083028793335,
+            "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": 0.008381413723814776,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17969727516174314,
+              -0.40946158766746515,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17969727516174314,
+              -0.40946158766746515,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18007736567296223,
+              -0.407241563668665,
+              0.804571876237639
+            ],
+            "closest_button": [
+              0.17961424589157102,
+              -0.4094550907611846,
+              0.7695938348770142
+            ],
+            "closest_ee_minus_button": [
+              0.00046311978139121357,
+              0.002213527092519596,
+              0.03497804136062488
+            ],
+            "button_min_z_position": [
+              0.17960156500339505,
+              -0.4094367027282714,
+              0.7684280276298523
+            ],
+            "min_active_finger_to_button": 0.1446789941504861,
+            "closest_active_finger": [
+              0.052603334188461304,
+              -0.46920105814933777,
+              0.8074960112571716
+            ],
+            "closest_active_finger_button": [
+              0.1797179728746414,
+              -0.4094708859920501,
+              0.7727658152580261
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271146386861801,
+              -0.05973017215728765,
+              0.03473019599914551
+            ],
+            "min_contact_pad_to_button": 0.02114532009534864,
+            "closest_contact_pad": [
+              0.17960156500339505,
+              -0.4094367027282714,
+              0.7895733477252009
+            ],
+            "closest_contact_pad_button": [
+              0.17960156500339505,
+              -0.4094367027282714,
+              0.7684280276298523
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02114532009534864
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1901ff7c31b72ab833efa488b19044fc5eb369f32777cb4a8c30724da7f57838",
+    "visual_seed": 2833178395212557362,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..22099163ab1ccf225b88d978ee4b90d4b572fda6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_103_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.366993425660017,
+              0.26178142632549467,
+              1.0074196442725403
+            ],
+            "current_z": 1.0074196442725403,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.1463131362577741,
+            "gripper_z": 1.0052725129077957,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3619778665420913,
+              0.2570062663063033,
+              1.0052725129077957
+            ],
+            "object_minus_gripper": [
+              0.0050155591179257275,
+              0.004775160019191371,
+              0.0021471313647445367
+            ],
+            "object_to_gripper_xy": 0.006925170501459992,
+            "object_to_gripper_z": 0.0021471313647445367,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.366993425660017,
+              0.23731266975728704,
+              1.0074196442725403
+            ],
+            "finger_b": [
+              0.35536216046209274,
+              0.26178142632549467,
+              1.0074196442725403
+            ],
+            "finger_midpoint": [
+              0.3611777930610549,
+              0.24954704804139086,
+              1.0074196442725403
+            ],
+            "object_minus_finger_midpoint": [
+              0.005815632598962117,
+              0.012234378284103814,
+              0.0
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00808030366897583,
+            "max_z_decrease": 0.00808030366897583,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502377146607768,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00808030366897583,
+            "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": 0.021080213863723444,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00808030366897583,
+            "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": 0.008080687770100929,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17570270597934717,
+              -0.4136595726013183,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17570270597934717,
+              -0.4136595726013183,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1739868836178544,
+              -0.4134667392278684,
+              0.8053240815353773
+            ],
+            "closest_button": [
+              0.1756237149238586,
+              -0.413663238286972,
+              0.7703391313552856
+            ],
+            "closest_ee_minus_button": [
+              -0.0016368313060041995,
+              0.00019649905910357202,
+              0.03498495018009162
+            ],
+            "button_min_z_position": [
+              0.17562408745288843,
+              -0.41366472840309143,
+              0.7687285542488098
+            ],
+            "min_active_finger_to_button": 0.14743374102957296,
+            "closest_active_finger": [
+              0.04608474671840668,
+              -0.47484079003334045,
+              0.8105763792991638
+            ],
+            "closest_active_finger_button": [
+              0.17570962011814112,
+              -0.4136675000190735,
+              0.7760520577430725
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12962487339973444,
+              -0.06117329001426697,
+              0.03452432155609131
+            ],
+            "min_contact_pad_to_button": 0.021080213863723444,
+            "closest_contact_pad": [
+              0.17562408745288843,
+              -0.41481760949094443,
+              0.7897772188558007
+            ],
+            "closest_contact_pad_button": [
+              0.17562408745288843,
+              -0.41366472840309143,
+              0.7687285542488098
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011528810878529971,
+              0.02104866460699084
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e8134d35c20a700c32af32e0a51e9039dd49ce38a224d2adf791febdd6d994b",
+    "visual_seed": 5459697416216855307,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f1db7585dd7ba3f1026627cc636b7a15bb1a3ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_104_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.37038244798995434,
+              0.27106003570548687,
+              1.007894971096547
+            ],
+            "current_z": 1.007894971096547,
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+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.14678834387249162,
+            "gripper_z": 1.005250375077086,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3653603556975285,
+              0.2662624107887821,
+              1.005250375077086
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+              0.005022092292425839,
+              0.004797624916704768,
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+            "object_to_gripper_z": 0.0026445960194609874,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.37038244798995434,
+              0.24672534641974075,
+              1.007894971096547
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+            "finger_b": [
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+              0.27106003570548687,
+              1.007894971096547
+            ],
+            "finger_midpoint": [
+              0.3644460819526354,
+              0.2588926910626138,
+              1.007894971096547
+            ],
+            "object_minus_finger_midpoint": [
+              0.005936366037318952,
+              0.012167344642873057,
+              0.0
+            ],
+            "finger_gap": 0.027076537251833756,
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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": 0.010670465108667345,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0482456705970286,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3493909740396681,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 184,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565864478039208
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+              0.33210149535367,
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+            "held_minus_gripper": [
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+              0.004900951487205096,
+              0.0025456430347154946
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+            "xy_dist": 0.0344344320431909,
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+            "held_gripper_dist": 0.007438593152886747,
+            "max_held_gripper_dist": 0.007526765021394565,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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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": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e53689a9af523801e0a471f5b945003c491189cf5484a83d89dd67497a56313",
+    "visual_seed": 1017481494875420137,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d0a3691899e48b38523282464c931a249dfb5b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_105_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.2686331045543042,
+              1.0069280805319456
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+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14582163212182442,
+            "gripper_z": 1.0048409976618917,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2638404041815777,
+              1.0048409976618917
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+              0.004792700372726499,
+              0.00208708287005388
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+              0.24399484949566821,
+              1.0069280805319456
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+            "finger_b": [
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+              0.2686331045543042,
+              1.0069280805319456
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+            "finger_midpoint": [
+              0.358161595094439,
+              0.2563139770249862,
+              1.0069280805319456
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+              0.012319127529318019,
+              0.0
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+            "object_to_finger_line_xy": 0.010452253709674121,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818395240029312,
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+              1.0
+            ],
+            "stable_success_frames": 182,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.36533397997062367,
+              0.7565863881992758
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+              0.3320992451012315,
+              1.0306224141511149
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+              0.004956146121347926,
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+            "max_wrist_deg": 120.22865758214874,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_upright_tilt_deg": 89.8850059484341,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 5.755784486480941e-07,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
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+              "controller_target_position": [
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+              "pour_pose_offset": [
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+              "source_size": [
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+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6144723892211914
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+              0.4
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+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
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+              "pour_height_range_m": [
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+                0.2
+              ],
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+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.0001607038587310575,
+                -0.0010948348454204939
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+              "use_preinterpolated_cartesian_targets": false
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+            "pour_controller_source_pose_feedback": true,
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+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.3296824554421009,
+              -0.3529179826265869,
+              0.847018610740582
+            ],
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+              0.3216525515780324,
+              -0.35485586687049997,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.008260432882663506,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18558150322686362,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847018610740582,
+            "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": 0.07575884973753444,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08629559253156448,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1534224842473387,
+            "release_required_pad_clearance": 0.05314779626578224,
+            "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": 1.3157891684970158,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008150875568389893,
+            "max_z_decrease": 0.008150875568389893,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034999335871942316,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008150875568389893,
+            "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": 0.021050144743984294,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008150875568389893,
+            "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": 0.008151161128128163,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17735247313976288,
+              -0.4111173152923584,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17735247313976288,
+              -0.4111173152923584,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17643686124026242,
+              -0.4112979765711275,
+              0.8039649762704961
+            ],
+            "closest_button": [
+              0.1772574633359909,
+              -0.41112789511680603,
+              0.7689756751060486
+            ],
+            "closest_ee_minus_button": [
+              -0.0008206020957284843,
+              -0.00017008145432145794,
+              0.03498930116444754
+            ],
+            "button_min_z_position": [
+              0.1772845983505249,
+              -0.41112425923347473,
+              0.7686579823493958
+            ],
+            "min_active_finger_to_button": 0.14675963823549665,
+            "closest_active_finger": [
+              0.04938273876905441,
+              -0.47416800260543823,
+              0.811050534248352
+            ],
+            "closest_active_finger_button": [
+              0.1773577183485031,
+              -0.4111247658729553,
+              0.7766071557998657
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1279749795794487,
+              -0.06304323673248291,
+              0.03444337844848633
+            ],
+            "min_contact_pad_to_button": 0.021050144743984294,
+            "closest_contact_pad": [
+              0.1772845983505249,
+              -0.41249059366777147,
+              0.7896637368932427
+            ],
+            "closest_contact_pad_button": [
+              0.1772845983505249,
+              -0.41112425923347473,
+              0.7686579823493958
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013663344342967343,
+              0.0210057545438469
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fd9d534907adbb1701aca78434f08d0e506e666bb405ad336c6d972327169aa1",
+    "visual_seed": 7142830636522607238,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e774dd1e0b52abba27bf44782a86992a34fab4a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_106_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3654556774192829,
+              0.2675040491478841,
+              1.0047421914778074
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+            "lift_margin": 0.1436355642537518,
+            "gripper_z": 1.0023954331659493,
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+            "gripper_position": [
+              0.3603161401050256,
+              0.26273950527958123,
+              1.0023954331659493
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+              0.005139537314257314,
+              0.004764543868302884,
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+            "object_to_gripper_z": 0.0023467583118581548,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3654556774192829,
+              0.24278220467178324,
+              1.0047421914778074
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+            "finger_b": [
+              0.35404195499889957,
+              0.2675040491478841,
+              1.0047421914778074
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+            "finger_midpoint": [
+              0.35974881620909127,
+              0.25514312690983365,
+              1.0047421914778074
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+              0.005706861210191649,
+              0.012360922238050465,
+              0.0
+            ],
+            "finger_gap": 0.027229444610386032,
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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": 0.8242978619807799,
+            "object_to_finger_line_xy": 0.01036261571278896,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834589908224966,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3871992443521226,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "valid_pour_held_grasp_geometry_required": true,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_a",
+              "allowed_objects": [
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+                "beaker_b"
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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",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00844109058380127,
+            "max_z_decrease": 0.00844109058380127,
+            "final_z_decrease": -5.960464477539063e-08,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508526274606654,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00844109058380127,
+            "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": 0.021031407284555104,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00844109058380127,
+            "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": 5.960464477539063e-08,
+            "button_max_displacement": 0.008441384150027662,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18218308687210083,
+              -0.4127354025840759,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18218308687210083,
+              -0.4127354025840759,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.18383331444365975,
+              -0.41110784746003876,
+              0.8033741977228069
+            ],
+            "closest_button": [
+              0.1821162700653076,
+              -0.4127132296562195,
+              0.7683677673339844
+            ],
+            "closest_ee_minus_button": [
+              0.001717044378352156,
+              0.0016053821961807269,
+              0.03500643038882256
+            ],
+            "button_min_z_position": [
+              0.1821162700653076,
+              -0.4127132296562195,
+              0.7683677673339844
+            ],
+            "min_active_finger_to_button": 0.14374863564804982,
+            "closest_active_finger": [
+              0.05769412964582443,
+              -0.47579026222229004,
+              0.8102366328239441
+            ],
+            "closest_active_finger_button": [
+              0.18219293653964996,
+              -0.4127425253391266,
+              0.7757591009140015
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12449880689382553,
+              -0.06304773688316345,
+              0.03447753190994263
+            ],
+            "min_contact_pad_to_button": 0.021031407284555104,
+            "closest_contact_pad": [
+              0.1821162700653076,
+              -0.4127132296562195,
+              0.7893991746185395
+            ],
+            "closest_contact_pad_button": [
+              0.1821162700653076,
+              -0.4127132296562195,
+              0.7683677673339844
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021031407284555104
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3cb8b47d37f44e24c0e02fc9321aa7f549624309e250a334ed3da6bfa3c7ed26",
+    "visual_seed": 3001055166132871321,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aed54ef3aadb04356e6c699ca2f3cb218338fa3c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_10_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.36486340122065997,
+              0.2652788112654495,
+              1.0046571871564154
+            ],
+            "current_z": 1.0046571871564154,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1435507387462942,
+            "gripper_z": 1.002888877771791,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35978841369147185,
+              0.26042666480343557,
+              1.002888877771791
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+            "object_minus_gripper": [
+              0.005074987529188113,
+              0.004852146462013929,
+              0.0017683093846243558
+            ],
+            "object_to_gripper_xy": 0.007021312107451794,
+            "object_to_gripper_z": 0.0017683093846243558,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36486340122065997,
+              0.24085175245835289,
+              1.0046571871564154
+            ],
+            "finger_b": [
+              0.3530117011411369,
+              0.2652788112654495,
+              1.0046571871564154
+            ],
+            "finger_midpoint": [
+              0.35893755118089843,
+              0.2530652818619012,
+              1.0046571871564154
+            ],
+            "object_minus_finger_midpoint": [
+              0.005925850039761538,
+              0.012213529403548307,
+              0.0
+            ],
+            "finger_gap": 0.027150395885517462,
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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": 1.0046571871564154,
+            "object_top_z": 1.0546274229211727,
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+            "fingertip_min_top_clearance": 0.014991070729427201,
+            "object_projection_between_fingers": 0.8094499915944527,
+            "object_to_finger_line_xy": 0.010662908048460809,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048341945081394874,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4162839251704766,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3191672327007731,
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+              0.7565864478039208
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+              0.3304895245421446,
+              1.0333021805683598
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+              0.03235047788178719,
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+              0.0048286621897244975,
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+            "max_held_gripper_dist": 0.007289822214904897,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
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+            "gripper_z": 1.0333021805683598,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23141697857342,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.910815455706898,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.369731560062829,
+            "max_source_tilt_deg": 89.96218915349418,
+            "source_upright_tilt_deg": 2.1748282467235005,
+            "max_source_upright_tilt_deg": 89.70597233403043,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.369731560062829,
+            "source_upright_return_tilt_deg": 2.1748282467235005,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.664001874625056e-08,
+            "max_target_xy_drift": 2.5288109106536417e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f157a46c5c1d92f05ea6d2b7ccc686e921bcc3fe39fd0e2418c8cb329d66dea7",
+    "visual_seed": 6741102341383411681,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74581da854831c003b3775434e868ce9481fe1de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_11_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              0.2663216451316219,
+              1.0034756764120778
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+            "virtual_attach_allowed": false,
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+              0.3610393683414476,
+              0.26154939596338,
+              1.0021737383206673
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+              0.004772249168241871,
+              0.0013019380914105483
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+              0.2415668381574696,
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+              0.2663216451316219,
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+              0.25394424164454577,
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+              0.01237740348707611,
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+              0.0,
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+            "stable_success_frames": 179,
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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_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
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+      },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "target_position": [
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+              0.3295739095745585,
+              1.0310935430946007
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+            "target_upright_axis_local": [
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "controller_target_position": [
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_pose_failed_keys": [
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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_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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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+              0.3320624302619028,
+              -0.35048947934202546,
+              0.8470195858639747
+            ],
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+              0.3244301751162239,
+              -0.3517690217612197,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195858639747,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534464297937134,
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+            "release_gap_missing_size": false,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.615396190404389,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008062303066253662,
+            "max_z_decrease": 0.008062303066253662,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035017193596352636,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008062303066253662,
+            "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": 0.021286797453931083,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008062303066253662,
+            "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": 0.008062420816382688,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18013009428977966,
+              -0.4080304801464081,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18013009428977966,
+              -0.4080304801464081,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18152332949450162,
+              -0.4084992401105352,
+              0.8043933344209091
+            ],
+            "closest_button": [
+              0.1800927370786667,
+              -0.40802988409996027,
+              0.7694085240364075
+            ],
+            "closest_ee_minus_button": [
+              0.0014305924158349304,
+              -0.00046935601057490617,
+              0.03498481038450163
+            ],
+            "button_min_z_position": [
+              0.18008652329444885,
+              -0.40802997350692743,
+              0.768746554851532
+            ],
+            "min_active_finger_to_button": 0.14457629766075367,
+            "closest_active_finger": [
+              0.040862709283828735,
+              -0.3911556303501129,
+              0.8081223368644714
+            ],
+            "closest_active_finger_button": [
+              0.18014797568321228,
+              -0.4080370664596557,
+              0.7732377052307129
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13928526639938354,
+              0.01688143610954279,
+              0.034884631633758545
+            ],
+            "min_contact_pad_to_button": 0.021286797453931083,
+            "closest_contact_pad": [
+              0.18008652329444885,
+              -0.4098290497703069,
+              0.7899571906374586
+            ],
+            "closest_contact_pad_button": [
+              0.18008652329444885,
+              -0.40802997350692743,
+              0.768746554851532
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00179907626337944,
+              0.021210635785926635
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c8bd945e263ca367af4bd6f055056bc4b1f276b213d9a706532579cba467409",
+    "visual_seed": 4305018693265068942,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e21d848c9b993c5c13ef09d51da22763ba4b0a66
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_12_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3674506385052813,
+              0.27010206716096186,
+              1.004090907625682
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+            "current_z": 1.004090907625682,
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+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1429844592155609,
+            "gripper_z": 1.0021953302573188,
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+            "gripper_position": [
+              0.3624110918259364,
+              0.2653170856787458,
+              1.0021953302573188
+            ],
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+              0.0050395466793449195,
+              0.004784981482216066,
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+            "object_to_gripper_xy": 0.0069493221625167925,
+            "object_to_gripper_z": 0.0018955773683633215,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3674506385052813,
+              0.24562479521884611,
+              1.004090907625682
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+            "finger_b": [
+              0.35579218782882255,
+              0.27010206716096186,
+              1.004090907625682
+            ],
+            "finger_midpoint": [
+              0.36162141316705193,
+              0.25786343118990396,
+              1.004090907625682
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+            "object_minus_finger_midpoint": [
+              0.005829225338229382,
+              0.012238635971057898,
+              0.0
+            ],
+            "finger_gap": 0.027111921988374567,
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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": 1.004090907625682,
+            "object_top_z": 1.053887230952099,
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+            "object_projection_between_fingers": 0.8150897154347453,
+            "object_to_finger_line_xy": 0.010525519649761013,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048167772910704384,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3207416233754776,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
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+                "panda_leftfinger",
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+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008484125137329102,
+            "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": 0.008484469579422184,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17942468822002405,
+              -0.40993955731391907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17942468822002405,
+              -0.40993955731391907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17961908231910978,
+              -0.40861302537598493,
+              0.803322253025754
+            ],
+            "closest_button": [
+              0.17935004830360407,
+              -0.4099230170249939,
+              0.7683247327804565
+            ],
+            "closest_ee_minus_button": [
+              0.00026903401550570916,
+              0.001309991649008968,
+              0.03499752024529745
+            ],
+            "button_min_z_position": [
+              0.17935004830360407,
+              -0.4099230170249939,
+              0.7683247327804565
+            ],
+            "min_active_finger_to_button": 0.1451301767318656,
+            "closest_active_finger": [
+              0.05316261202096939,
+              -0.4726700782775879,
+              0.8105268478393555
+            ],
+            "closest_active_finger_button": [
+              0.179430142045021,
+              -0.40994542837142944,
+              0.7761045098304749
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1262675300240516,
+              -0.06272464990615845,
+              0.034422338008880615
+            ],
+            "min_contact_pad_to_button": 0.020996715919474718,
+            "closest_contact_pad": [
+              0.17935004830360407,
+              -0.4099230170249939,
+              0.7893214486999313
+            ],
+            "closest_contact_pad_button": [
+              0.17935004830360407,
+              -0.4099230170249939,
+              0.7683247327804565
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020996715919474718
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "14b2b79a535d37a045ec347c9016b8857ac0f7cb4443a6d3c5e349396a6d1b6a",
+    "visual_seed": 3159144080136403598,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbd91840e5b539a164f3d2c3591a9f30dfa62c54
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_13_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37165007366416086,
+              0.2673868042497392,
+              1.0070971375453577
+            ],
+            "current_z": 1.0070971375453577,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.14599068913523672,
+            "gripper_z": 1.005484403045445,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36620561294877324,
+              0.2625514086896178,
+              1.005484403045445
+            ],
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+              0.005444460715387622,
+              0.004835395560121414,
+              0.0016127344999126159
+            ],
+            "object_to_gripper_xy": 0.007281703283177706,
+            "object_to_gripper_z": 0.0016127344999126159,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37165007366416086,
+              0.24259043935696856,
+              1.0070971375453577
+            ],
+            "finger_b": [
+              0.35996039645493344,
+              0.2673868042497392,
+              1.0070971375453577
+            ],
+            "finger_midpoint": [
+              0.36580523505954715,
+              0.2549886218033539,
+              1.0070971375453577
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+            "object_minus_finger_midpoint": [
+              0.005844838604613711,
+              0.012398182446385297,
+              0.0
+            ],
+            "finger_gap": 0.027413651072984786,
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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": 1.0070971375453577,
+            "object_top_z": 1.0571437347525396,
+            "finger_top_clearance": 0.050046597207181964,
+            "fingertip_min_top_clearance": 0.015013979162154556,
+            "object_projection_between_fingers": 0.8181675976266091,
+            "object_to_finger_line_xy": 0.010573618989568155,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486503402555407,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6920179117817205,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31276325006146044,
+              0.3625482376877562,
+              0.7565865074085657
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+            "gripper_position": [
+              0.3205807392682767,
+              0.32874797021370544,
+              1.0335071110995078
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+            "target_minus_gripper": [
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+              0.03380026747405074,
+              -0.27692060369094207
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+            "held_position": [
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+              0.3336587467844119,
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+            "held_minus_target": [
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+              -0.028889490903344306,
+              0.2784254697038909
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+            "held_minus_gripper": [
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+              0.004910776570706432,
+              0.0015048660129488578
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+            "xy_dist": 0.03469252396145401,
+            "held_xy_dist": 0.03177401933612812,
+            "held_gripper_dist": 0.007460313706334901,
+            "max_held_gripper_dist": 0.00749578048826255,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565865074085657,
+            "held_z": 1.0350119771124566,
+            "required_height": 0.7865865074085657,
+            "gripper_z": 1.0335071110995078,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.25341018770087,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 1.3107639433181764,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.451239785793246,
+            "max_source_tilt_deg": 89.91240159546138,
+            "source_upright_tilt_deg": 3.1561317057703615,
+            "max_source_upright_tilt_deg": 89.69281353773835,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.451239785793246,
+            "source_upright_return_tilt_deg": 3.1561317057703615,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.960464477539063e-08,
+            "max_target_xy_drift": 2.4027400458748785e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3128,
+                0.3625,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.3128,
+                0.3625,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0005,
+                -0.0012,
+                0.0018
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+              "controller_last_pour_pose_position": [
+                0.3133,
+                0.3361,
+                1.0235
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.0904
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
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+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6c954b6b7d80126e64b4d0cfe6ffa1025233038
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_14_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              1.0052570312551659
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+              0.26210251589173117,
+              1.0033264419739312
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+              0.004806459382596384,
+              0.0019305892812346848
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+              0.2423065411319028,
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+              1.0052570312551659
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+              0.2546077582031152,
+              1.0052570312551659
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+              0.012301217071212345,
+              0.0
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+            "stable_success_frames": 180,
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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_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+          }
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.3364378043982374,
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+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.3281798760827878,
+              -0.3488455234912628,
+              0.847019439903568
+            ],
+            "target_position": [
+              0.31944639560784255,
+              -0.3513496430543733,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0090853891492111,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1885819675820244,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019439903568,
+            "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": 0.07530082695369152,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528793643911418,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15757833521298648,
+            "release_required_pad_clearance": 0.052643968219557094,
+            "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": 0.347178774676904,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008317112922668457,
+            "max_z_decrease": 0.008317112922668457,
+            "final_z_decrease": -5.960464477539063e-08,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503062638238579,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008317112922668457,
+            "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": 0.021146156121676345,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008317112922668457,
+            "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": 5.960464477539063e-08,
+            "button_max_displacement": 0.008317356629152122,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1751463264226913,
+              -0.40761110186576843,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1751463264226913,
+              -0.40761110186576843,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.17412888848045555,
+              -0.40910328979288374,
+              0.803839322994082
+            ],
+            "closest_button": [
+              0.17505553364753718,
+              -0.4076178967952728,
+              0.7688524723052979
+            ],
+            "closest_ee_minus_button": [
+              -0.00092664516708163,
+              -0.0014853929976109126,
+              0.034986850688784155
+            ],
+            "button_min_z_position": [
+              0.17508280277252192,
+              -0.4076067805290222,
+              0.7684917449951172
+            ],
+            "min_active_finger_to_button": 0.14668978735627425,
+            "closest_active_finger": [
+              0.033332452178001404,
+              -0.3928642272949219,
+              0.8100863695144653
+            ],
+            "closest_active_finger_button": [
+              0.17515125870704645,
+              -0.4076208472251892,
+              0.7756253480911255
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14181880652904505,
+              0.014756619930267334,
+              0.034461021423339844
+            ],
+            "min_contact_pad_to_button": 0.021146156121676345,
+            "closest_contact_pad": [
+              0.17508280277252192,
+              -0.4102836196593176,
+              0.7894677896888346
+            ],
+            "closest_contact_pad_button": [
+              0.17508280277252192,
+              -0.4076067805290222,
+              0.7684917449951172
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002676839130295372,
+              0.02097604469371739
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c722389b0b68c61b080b2a21c798c0585ade5e0cd5dd651d0b3c041753a0239d",
+    "visual_seed": 48295426754019634,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f30f09024b244bb444d2419861bca115cb43b41e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_15_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3670038870494765,
+              0.2678473361280512,
+              1.0043443685568372
+            ],
+            "current_z": 1.0043443685568372,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.14323756251884756,
+            "gripper_z": 1.0023564516897048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3619726578770445,
+              0.2630340320253074,
+              1.0023564516897048
+            ],
+            "object_minus_gripper": [
+              0.0050312291724319835,
+              0.004813304102743832,
+              0.0019879168671324
+            ],
+            "object_to_gripper_xy": 0.006962841616109132,
+            "object_to_gripper_z": 0.0019879168671324,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3670038870494765,
+              0.2434214346324313,
+              1.0043443685568372
+            ],
+            "finger_b": [
+              0.35524709700309587,
+              0.2678473361280512,
+              1.0043443685568372
+            ],
+            "finger_midpoint": [
+              0.3611254920262862,
+              0.25563438538024125,
+              1.0043443685568372
+            ],
+            "object_minus_finger_midpoint": [
+              0.005878395023190319,
+              0.01221295074780998,
+              0.0
+            ],
+            "finger_gap": 0.02710805740123041,
+            "fingertip_max_gap": 0.09165581397816083,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01355402870061522,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0043443685568372,
+            "object_top_z": 1.054385141210062,
+            "finger_top_clearance": 0.05004077265322482,
+            "fingertip_min_top_clearance": 0.015012231795967428,
+            "object_projection_between_fingers": 0.8119034924066831,
+            "object_to_finger_line_xy": 0.010593536501975358,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832790698908042,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.305513658898561,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            "closest_button": [
+              0.17644111812114716,
+              -0.4106406569480896,
+              0.7686991691589355
+            ],
+            "closest_ee_minus_button": [
+              -0.0014555242186221062,
+              -0.0015519065019783396,
+              0.034974354589209944
+            ],
+            "button_min_z_position": [
+              0.17642223834991455,
+              -0.4106197953224182,
+              0.7683716416358948
+            ],
+            "min_active_finger_to_button": 0.14719610961894994,
+            "closest_active_finger": [
+              0.03399169445037842,
+              -0.39759883284568787,
+              0.8110864758491516
+            ],
+            "closest_active_finger_button": [
+              0.1765347123146057,
+              -0.41064858436584467,
+              0.7767661213874817
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1425430178642273,
+              0.013049751520156805,
+              0.03432035446166992
+            ],
+            "min_contact_pad_to_button": 0.021070275735044625,
+            "closest_contact_pad": [
+              0.17642223834991455,
+              -0.41316437977822984,
+              0.7892877026775453
+            ],
+            "closest_contact_pad_button": [
+              0.17642223834991455,
+              -0.4106197953224182,
+              0.7683716416358948
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002544584455811627,
+              0.020916061041650558
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86e82b45bc4930ca9a8d593663702faaa3edd27c0f12abc6b8cbff3a7c34e88d",
+    "visual_seed": 1959518026464189643,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4854ff685ef210696143182832d3f5d6a119bb5f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_16_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36364917360359206,
+              0.26322582404164346,
+              1.004854031783156
+            ],
+            "current_z": 1.004854031783156,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.14374734495445596,
+            "gripper_z": 1.0030725969263894,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3585035022350616,
+              0.2583007320532381,
+              1.0030725969263894
+            ],
+            "object_minus_gripper": [
+              0.005145671368530447,
+              0.00492509198840535,
+              0.0017814348567666283
+            ],
+            "object_to_gripper_xy": 0.007122812992573128,
+            "object_to_gripper_z": 0.0017814348567666283,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36364917360359206,
+              0.23872631024154195,
+              1.004854031783156
+            ],
+            "finger_b": [
+              0.35172134349178064,
+              0.26322582404164346,
+              1.004854031783156
+            ],
+            "finger_midpoint": [
+              0.35768525854768635,
+              0.2509760671415927,
+              1.004854031783156
+            ],
+            "object_minus_finger_midpoint": [
+              0.005963915055905711,
+              0.012249756900050757,
+              0.0
+            ],
+            "finger_gap": 0.02724884048207556,
+            "fingertip_max_gap": 0.09191163430992086,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01362442024103778,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.004854031783156,
+            "object_top_z": 1.0548424617284669,
+            "finger_top_clearance": 0.04998842994531083,
+            "fingertip_min_top_clearance": 0.014996528983593264,
+            "object_projection_between_fingers": 0.8083861766380145,
+            "object_to_finger_line_xy": 0.010724347651483298,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845581715496043,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7706376066927774,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.314489966818281,
+              0.3660095688168303,
+              0.7565864478039208
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+            "gripper_position": [
+              0.31987933510967265,
+              0.3333021832175427,
+              1.0317143506851705
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+            "target_minus_gripper": [
+              -0.0053893682913916385,
+              0.0327073855992876,
+              -0.27512790288124966
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+            "held_position": [
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+              0.3382020485104494,
+              1.0333956734602054
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+            "held_minus_target": [
+              0.010597492986861912,
+              -0.027807520306380895,
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+            "held_minus_gripper": [
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+              0.004899865292906702,
+              0.0016813227750349657
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+            "xy_dist": 0.03314842927380939,
+            "held_xy_dist": 0.02975844490554527,
+            "held_gripper_dist": 0.0073457531272191744,
+            "max_held_gripper_dist": 0.007390419854143682,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
+            "held_z": 1.0333956734602054,
+            "required_height": 0.7865864478039208,
+            "gripper_z": 1.0317143506851705,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22554984607639,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 1.2392508775696076,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.3693330126807295,
+            "max_source_tilt_deg": 89.754619219822,
+            "source_upright_tilt_deg": 2.1618096719363913,
+            "max_source_upright_tilt_deg": 89.60499646238213,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.3693330126807295,
+            "source_upright_return_tilt_deg": 2.1618096719363913,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.884864366154897e-07,
+            "max_target_xy_drift": 3.11145380404906e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3145,
+                0.366,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.3145,
+                0.366,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0008,
+                0.0011,
+                0.0004
+              ],
+              "controller_last_pour_pose_position": [
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+                0.3419,
+                1.0222
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0649,
+                0.0603,
+                0.0904
+              ],
+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
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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": [
+              {
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.33457966679837975,
+              -0.35587280742447897,
+              0.8470193548197325
+            ],
+            "target_position": [
+              0.32534449402289334,
+              -0.3577525025034709,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009424524910204858,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19024845237950938,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193548197325,
+            "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": 0.07544004153249141,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522654499362341,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15867434569109665,
+            "release_required_pad_clearance": 0.052613272496811705,
+            "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": 0.2880349825369517,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008365631103515625,
+            "max_z_decrease": 0.008365631103515625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498781957441015,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008365631103515625,
+            "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": 0.021128555851915053,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008365631103515625,
+            "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": 0.008366099307648832,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18104441463947296,
+              -0.4140139520168304,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18104441463947296,
+              -0.4140139520168304,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18038077789396825,
+              -0.4135334698294248,
+              0.8050197569523486
+            ],
+            "closest_button": [
+              0.1809510439634323,
+              -0.4140162169933319,
+              0.7700399160385132
+            ],
+            "closest_ee_minus_button": [
+              -0.0005702660694640593,
+              0.0004827471639071157,
+              0.034979840913835436
+            ],
+            "button_min_z_position": [
+              0.1809571385383606,
+              -0.41399922966957087,
+              0.76844322681427
+            ],
+            "min_active_finger_to_button": 0.14630759595991405,
+            "closest_active_finger": [
+              0.05299101769924164,
+              -0.47569116950035095,
+              0.8081454038619995
+            ],
+            "closest_active_finger_button": [
+              0.18105722963809967,
+              -0.4140208661556244,
+              0.7734794020652771
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12806621193885803,
+              -0.06167030334472656,
+              0.03466600179672241
+            ],
+            "min_contact_pad_to_button": 0.021128555851915053,
+            "closest_contact_pad": [
+              0.1809571385383606,
+              -0.4147581767790024,
+              0.7895581474078356
+            ],
+            "closest_contact_pad_button": [
+              0.1809571385383606,
+              -0.41399922966957087,
+              0.76844322681427
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007589471094315292,
+              0.021114920593565567
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0463bd49d0cb795114fc90567a6250e7391d9be63d2c78cd1525b00747c3dd8c",
+    "visual_seed": 2616948420006307451,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed00df3ebc9fa2eb0ba1679c3925bb13afffde5e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_17_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
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+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008250117301940918,
+            "max_z_decrease": 0.008250117301940918,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499909401630878,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008250117301940918,
+            "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": 0.020987726027661323,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008250117301940918,
+            "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": 0.00825049094590484,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17745681107044223,
+              -0.4165758788585663,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17745681107044223,
+              -0.4165758788585663,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17603730503448484,
+              -0.41617733951521535,
+              0.8036164105017497
+            ],
+            "closest_button": [
+              0.17737045884132385,
+              -0.41657599806785583,
+              0.7686449885368347
+            ],
+            "closest_ee_minus_button": [
+              -0.0013331538068390159,
+              0.0003986585526404851,
+              0.034971421964914984
+            ],
+            "button_min_z_position": [
+              0.1773790568113327,
+              -0.41656494140625,
+              0.7685587406158447
+            ],
+            "min_active_finger_to_button": 0.1469292794157988,
+            "closest_active_finger": [
+              0.049041569232940674,
+              -0.4791598320007324,
+              0.8109779357910156
+            ],
+            "closest_active_finger_button": [
+              0.17745265364646914,
+              -0.4165821671485901,
+              0.7765854597091675
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12841108441352847,
+              -0.06257766485214233,
+              0.034392476081848145
+            ],
+            "min_contact_pad_to_button": 0.020987726027661323,
+            "closest_contact_pad": [
+              0.17737045884132385,
+              -0.4173507760454146,
+              0.7896184089278359
+            ],
+            "closest_contact_pad_button": [
+              0.17737045884132385,
+              -0.41657599806785583,
+              0.7686449885368347
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007747779775587604,
+              0.02097342039100114
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f03410db082a39824339790f4f114cec1c2451fedc2d648d30c3be80906f272b",
+    "visual_seed": 9138742469081235473,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1acadfd639773394415ffe5fb2fd919a653d1cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_18_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37239169140276407,
+              0.2683104365897705,
+              1.0044632237725621
+            ],
+            "current_z": 1.0044632237725621,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14335677536244096,
+            "gripper_z": 1.0022679721222314,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36721234342715003,
+              0.2633022742299617,
+              1.0022679721222314
+            ],
+            "object_minus_gripper": [
+              0.005179347975614035,
+              0.0050081623598087766,
+              0.002195251650330743
+            ],
+            "object_to_gripper_xy": 0.0072046745710477875,
+            "object_to_gripper_z": 0.002195251650330743,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37239169140276407,
+              0.24390747082229802,
+              1.0044632237725621
+            ],
+            "finger_b": [
+              0.3601678053481659,
+              0.2683104365897705,
+              1.0044632237725621
+            ],
+            "finger_midpoint": [
+              0.36627974837546495,
+              0.25610895370603426,
+              1.0044632237725621
+            ],
+            "object_minus_finger_midpoint": [
+              0.006111943027299116,
+              0.012201482883736237,
+              0.0
+            ],
+            "finger_gap": 0.02729337151258952,
+            "fingertip_max_gap": 0.09213823274358038,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013646685756294772,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0044632237725621,
+            "object_top_z": 1.054493650924898,
+            "finger_top_clearance": 0.050030427152335966,
+            "fingertip_min_top_clearance": 0.015009128145700806,
+            "object_projection_between_fingers": 0.7994123398564363,
+            "object_to_finger_line_xy": 0.010929359635845936,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856911637179019,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4860167221907608,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31363762039799314,
+              0.3683972414795653,
+              0.7565864478039206
+            ],
+            "gripper_position": [
+              0.3220331366299263,
+              0.333352046718498,
+              1.0317474168380831
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+            "target_minus_gripper": [
+              -0.008395516231933131,
+              0.03504519476106732,
+              -0.27516096903416254
+            ],
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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": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7bbb00284c37e3da087d4cb502e27fa66b27637b0097ba0037fbba052e07c481",
+    "visual_seed": 7016284085468799432,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d619bdae2f9e413eba4e6a927bcfb8b2e2ac6800
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_19_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36577123539832634,
+              0.26760536962289144,
+              1.0065246242143773
+            ],
+            "current_z": 1.0065246242143773,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1454181161996113,
+            "gripper_z": 1.0042341288605967,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36067050011694723,
+              0.2627648513226326,
+              1.0042341288605967
+            ],
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+              0.00510073528137911,
+              0.004840518300258834,
+              0.002290495353780564
+            ],
+            "object_to_gripper_xy": 0.007031935567526646,
+            "object_to_gripper_z": 0.002290495353780564,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36577123539832634,
+              0.24309482301586688,
+              1.0065246242143773
+            ],
+            "finger_b": [
+              0.3540100495476045,
+              0.26760536962289144,
+              1.0065246242143773
+            ],
+            "finger_midpoint": [
+              0.3598906424729654,
+              0.25535009631937916,
+              1.0065246242143773
+            ],
+            "object_minus_finger_midpoint": [
+              0.005880592925360917,
+              0.012255273303512282,
+              0.0
+            ],
+            "finger_gap": 0.027186253651254395,
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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": 1.0065246242143773,
+            "object_top_z": 1.0564283662891385,
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+            "fingertip_min_top_clearance": 0.0149711226224284,
+            "object_projection_between_fingers": 0.8128441113211827,
+            "object_to_finger_line_xy": 0.010603634382506942,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048360022803885974,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.372849040207181,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31783930081982215,
+              0.3664498981301086,
+              0.756586388199276
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+            "gripper_position": [
+              0.32434417133897137,
+              0.3327359441690888,
+              1.031117622377537
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+            "target_minus_gripper": [
+              -0.0065048705191492195,
+              0.03371395396101978,
+              -0.27453123417826086
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+            "held_position": [
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+              0.3376033678794424,
+              1.033308345823714
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+            "held_minus_target": [
+              0.011631674479513021,
+              -0.02884653025066619,
+              0.27672195762443796
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+            "held_minus_gripper": [
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+              0.004867423710353591,
+              0.002190723446177101
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+            "held_gripper_dist": 0.0074010270666809725,
+            "max_held_gripper_dist": 0.007466959727142972,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.031117622377537,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21682769450628,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.290102774417484,
+            "max_source_tilt_deg": 89.92957339942389,
+            "source_upright_tilt_deg": 2.3751883571683967,
+            "max_source_upright_tilt_deg": 89.59034315271752,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.290102774417484,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.429369694328344e-08,
+            "max_target_xy_drift": 9.180856824367859e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3178,
+                0.3664,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.3664,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0001,
+                -0.0005
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+              "controller_last_pour_pose_position": [
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+                1.0213
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6143144369125366
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            ],
+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0213
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
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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"
+              ],
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+                "base_link",
+                "caster",
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.3307888312706248,
+              -0.352581939934892,
+              0.8470196153912284
+            ],
+            "target_position": [
+              0.32287913475390145,
+              -0.3544801940188352,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008134289615809882,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18782487202937007,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196153912284,
+            "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": 0.07587724139275343,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08563827248939308,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15534865369877796,
+            "release_required_pad_clearance": 0.05281913624469654,
+            "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": 0.6829931329235986,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008446335792541504,
+            "max_z_decrease": 0.008446335792541504,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498319986034886,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008446335792541504,
+            "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": 0.021121423926351465,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008446335792541504,
+            "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": 0.008447083155142636,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17857906222343448,
+              -0.4107416570186615,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17857906222343448,
+              -0.4107416570186615,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17806344663846282,
+              -0.4106463601232292,
+              0.8046829445393633
+            ],
+            "closest_button": [
+              0.17848858237266543,
+              -0.4107326865196228,
+              0.7697024345397949
+            ],
+            "closest_ee_minus_button": [
+              -0.00042513573420260853,
+              8.632639639361006e-05,
+              0.034980509999568365
+            ],
+            "button_min_z_position": [
+              0.17847093939781192,
+              -0.4107110798358917,
+              0.7683625221252441
+            ],
+            "min_active_finger_to_button": 0.14644280425612283,
+            "closest_active_finger": [
+              0.05046580731868744,
+              -0.4726549983024597,
+              0.8095137476921082
+            ],
+            "closest_active_finger_button": [
+              0.17858767509460455,
+              -0.41075006127357483,
+              0.7749007344245911
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281218677759171,
+              -0.06190493702888489,
+              0.03461301326751709
+            ],
+            "min_contact_pad_to_button": 0.021121423926351465,
+            "closest_contact_pad": [
+              0.1784753501415253,
+              -0.4118464254368438,
+              0.7898276339630448
+            ],
+            "closest_contact_pad_button": [
+              0.1784753501415253,
+              -0.4107060432434082,
+              0.7687370181083679
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011403821934355962,
+              0.021090615854676864
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6a1002fc848e9edf1622f6a3bca3911502e697f456f620a9cb5167258a11c30d",
+    "visual_seed": 6123823300092888503,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bfd7f567a7268c6cb75485a8b6317080e7c0775
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_1_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3626905802960352,
+              0.26729924591801807,
+              1.0048731830431925
+            ],
+            "current_z": 1.0048731830431925,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14376673463307132,
+            "gripper_z": 1.00327812297848,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35769602633328645,
+              0.2624324157848508,
+              1.00327812297848
+            ],
+            "object_minus_gripper": [
+              0.004994553962748727,
+              0.004866830133167244,
+              0.0015950600647125501
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+            "object_to_gripper_xy": 0.006973636413802609,
+            "object_to_gripper_z": 0.0015950600647125501,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3626905802960352,
+              0.24302401379216512,
+              1.0048731830431925
+            ],
+            "finger_b": [
+              0.3506972214336094,
+              0.26729924591801807,
+              1.0048731830431925
+            ],
+            "finger_midpoint": [
+              0.3566939008648223,
+              0.2551616298550916,
+              1.0048731830431925
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059966794312129035,
+              0.01213761606292646,
+              0.0
+            ],
+            "finger_gap": 0.027076328251204422,
+            "fingertip_max_gap": 0.09175515800066295,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013538164125602197,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0048731830431925,
+            "object_top_z": 1.0548709911680807,
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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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008032143115997314,
+            "max_z_decrease": 0.008032143115997314,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035019134374306746,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008032143115997314,
+            "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": 0.021416622147856113,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.008032143115997314,
+            "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": 0.008032859044058148,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1816204637289047,
+              -0.41006344556808466,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1816204637289047,
+              -0.41006344556808466,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18047280200163665,
+              -0.41135985305937023,
+              0.803831137782816
+            ],
+            "closest_button": [
+              0.18153552711009974,
+              -0.41002160310745234,
+              0.7688537240028381
+            ],
+            "closest_ee_minus_button": [
+              -0.0010627251084630862,
+              -0.0013382499519178914,
+              0.03497741377997787
+            ],
+            "button_min_z_position": [
+              0.18152511119842527,
+              -0.4100143611431121,
+              0.7687767148017883
+            ],
+            "min_active_finger_to_button": 0.14681689702545994,
+            "closest_active_finger": [
+              0.0399928018450737,
+              -0.3935699462890625,
+              0.8080864548683167
+            ],
+            "closest_active_finger_button": [
+              0.18164016306400296,
+              -0.41007411479949946,
+              0.7731745839118958
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14164736121892926,
+              0.016504168510436956,
+              0.0349118709564209
+            ],
+            "min_contact_pad_to_button": 0.021416622147856113,
+            "closest_contact_pad": [
+              0.18153552711009974,
+              -0.41002160310745234,
+              0.7902703461506942
+            ],
+            "closest_contact_pad_button": [
+              0.18153552711009974,
+              -0.41002160310745234,
+              0.7688537240028381
+            ],
+            "closest_contact_pad_index": 1,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021416622147856113
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b684504edd164aecf6174c10d3b1309cceea0ecce738fffcded1a9c8a90d597",
+    "visual_seed": 1623186102144762489,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93ed649bd7df4a11c12433c6117046f1c0aa65b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_20_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37206961175062336,
+              0.27290545434452956,
+              1.0046636713889021
+            ],
+            "current_z": 1.0046636713889021,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.14355692495555694,
+            "gripper_z": 1.0027988690454763,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36711054958274203,
+              0.2681725461893326,
+              1.0027988690454763
+            ],
+            "object_minus_gripper": [
+              0.004959062167881334,
+              0.0047329081551969465,
+              0.0018648023434257865
+            ],
+            "object_to_gripper_xy": 0.006855123426346288,
+            "object_to_gripper_z": 0.0018648023434257865,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37206961175062336,
+              0.24843375853799263,
+              1.0046636713889021
+            ],
+            "finger_b": [
+              0.3605546623419555,
+              0.27290545434452956,
+              1.0046636713889021
+            ],
+            "finger_midpoint": [
+              0.3663121370462894,
+              0.2606696064412611,
+              1.0046636713889021
+            ],
+            "object_minus_finger_midpoint": [
+              0.005757474704333965,
+              0.012235847903268482,
+              0.0
+            ],
+            "finger_gap": 0.027045479391792228,
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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": 1.0545366408341865,
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+            "fingertip_min_top_clearance": 0.014961890833585305,
+            "object_projection_between_fingers": 0.8187263411636986,
+            "object_to_finger_line_xy": 0.010419129018733547,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04761253795362293,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1772342124356627,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.36117253268401783,
+              0.756586388199276
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+            "gripper_position": [
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+              0.32719101605839684,
+              1.033133209279916
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+            "target_minus_gripper": [
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+              0.03398151662562099,
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+            "held_minus_gripper": [
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+              0.0047085407104027754,
+              0.0017573091910898508
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+            "xy_dist": 0.034732388098706636,
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+            "held_gripper_dist": 0.00710800989740466,
+            "max_held_gripper_dist": 0.007161082964027611,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.033133209279916,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23851354512107,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
+              0.0,
+              0.0,
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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",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7deaf0a8aa173e18c07c8087a0f05b952b99d22b903fb48099efcaf215acc27a",
+    "visual_seed": 294645457589189876,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e514c51eb3e38931d9155206afcca7e9a7f8c7ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_21_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
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+              0.37133757020885877,
+              0.2664814267543415,
+              1.0072891750000894
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+            "current_z": 1.0072891750000894,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14618260738067856,
+            "gripper_z": 1.0051202773362302,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3661742188502429,
+              0.26172283145796627,
+              1.0051202773362302
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+              0.005163351358615842,
+              0.004758595296375234,
+              0.002168897663859193
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+            "object_to_gripper_z": 0.002168897663859193,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.37133757020885877,
+              0.24166540326682281,
+              1.0072891750000894
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+            "finger_b": [
+              0.3600052643919332,
+              0.2664814267543415,
+              1.0072891750000894
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+            "finger_midpoint": [
+              0.365671417300396,
+              0.25407341501058217,
+              1.0072891750000894
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+              0.005666152908462785,
+              0.012408011743759328,
+              0.0
+            ],
+            "finger_gap": 0.02728105893951707,
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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": 0.8274503334726911,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833305691242408,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 184,
+            "max_stable_success_frames": 184,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.36337444747131037,
+              0.7565864478039209
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+              0.33126830267162344,
+              1.0320045654253955
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+              0.03210614479968693,
+              -0.2754181176214746
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+            "held_position": [
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+            "held_minus_target": [
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+              -0.027182002867605914,
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+              0.0049241419320810165,
+              0.0020767885438415234
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+            "max_held_gripper_dist": 0.007410026912108457,
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+            "xy_threshold": 0.15,
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+            "missing_active_wrist_index": false,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_upright_tilt_deg": 89.95394130077823,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 6.664001874625056e-08,
+            "max_target_xy_drift": 1.884864366154897e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                0.3634,
+                0.7566
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+              "controller_target_position": [
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+                0.3634,
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+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6115245819091797
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0225
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+            "pour_controller_controller_event": 6,
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+            "pour_controller_height_range_1": [
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+              0.4
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+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
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+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0017076247928312894,
+                0.0019407134921547668,
+                0.0007339175753522469
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+              "use_preinterpolated_cartesian_targets": false
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+                "wrist_2_joint",
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+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.3304633261646709,
+              -0.3563277367289765,
+              0.8470196877407495
+            ],
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+              0.32165897275211636,
+              -0.35793011344970344,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008948980398251427,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18965916266438543,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196877407495,
+            "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": 0.07570618970902056,
+            "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": 0.15739360773117136,
+            "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": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00850909948348999,
+            "max_z_decrease": 0.00850909948348999,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501887998622169,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00850909948348999,
+            "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": 0.02091260935405348,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00850909948348999,
+            "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": 0.008510018327751553,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17735889554023737,
+              -0.4141915738582611,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17735889554023737,
+              -0.4141915738582611,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1768401826882978,
+              -0.4126075710863496,
+              0.8036536670334243
+            ],
+            "closest_button": [
+              0.17723281681537623,
+              -0.4141661524772644,
+              0.7686716914176941
+            ],
+            "closest_ee_minus_button": [
+              -0.0003926341270784339,
+              0.0015585813909148039,
+              0.03498197561573024
+            ],
+            "button_min_z_position": [
+              0.17723472416400904,
+              -0.4141767621040344,
+              0.7682997584342957
+            ],
+            "min_active_finger_to_button": 0.14558756252851854,
+            "closest_active_finger": [
+              0.05085458606481552,
+              -0.47759002447128296,
+              0.810326099395752
+            ],
+            "closest_active_finger_button": [
+              0.17736066877841944,
+              -0.4141975343227387,
+              0.7760720252990723
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12650608271360392,
+              -0.06339249014854426,
+              0.03425407409667969
+            ],
+            "min_contact_pad_to_button": 0.02091260935405348,
+            "closest_contact_pad": [
+              0.17723472416400904,
+              -0.4141767621040344,
+              0.7892123677883491
+            ],
+            "closest_contact_pad_button": [
+              0.17723472416400904,
+              -0.4141767621040344,
+              0.7682997584342957
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02091260935405348
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d303e6d2b919e7940c0629e1005ce53e5b28716fd10217ff5a27bff925978702",
+    "visual_seed": 954780652412761002,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4792e79c5301dcbdc2c2c7cd4e7032ce6a07219
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_22_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.36815963541173435,
+              0.26300320517347864,
+              1.0050119943618978
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+            "current_z": 1.0050119943618978,
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+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.14390536713784208,
+            "gripper_z": 1.0028907463844563,
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+            "gripper_position": [
+              0.36305504034661884,
+              0.25813647355276226,
+              1.0028907463844563
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+              0.005104595065115514,
+              0.00486673162071638,
+              0.0021212479774415094
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+            "object_to_gripper_xy": 0.007052798554253647,
+            "object_to_gripper_z": 0.0021212479774415094,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.36815963541173435,
+              0.23852056137921876,
+              1.0050119943618978
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+            "finger_b": [
+              0.356315606683849,
+              0.26300320517347864,
+              1.0050119943618978
+            ],
+            "finger_midpoint": [
+              0.36223762104779167,
+              0.2507618832763487,
+              1.0050119943618978
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+              0.005922014363942685,
+              0.012241321897129953,
+              0.0
+            ],
+            "finger_gap": 0.027197074542376534,
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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": 1.0549061602515306,
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+            "object_projection_between_fingers": 0.8103492689912616,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483080271845233,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2169307732954056,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
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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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008381009101867676,
+            "max_z_decrease": 0.008381009101867676,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502541375097629,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008381009101867676,
+            "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": 0.021387548421992936,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008381009101867676,
+            "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": 0.008381516167395459,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1842672973871231,
+              -0.41033363342285156,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1842672973871231,
+              -0.41033363342285156,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1852673902862225,
+              -0.41159244706046244,
+              0.8054845519629762
+            ],
+            "closest_button": [
+              0.18419425189495087,
+              -0.41031730175018305,
+              0.7704988121986389
+            ],
+            "closest_ee_minus_button": [
+              0.0010731383912716275,
+              -0.0012751453102793908,
+              0.034985739764337276
+            ],
+            "button_min_z_position": [
+              0.1841817945241928,
+              -0.410299152135849,
+              0.768427848815918
+            ],
+            "min_active_finger_to_button": 0.14481683441318147,
+            "closest_active_finger": [
+              0.04464765638113022,
+              -0.394607275724411,
+              0.8079479932785034
+            ],
+            "closest_active_finger_button": [
+              0.1842910647392273,
+              -0.4103398025035858,
+              0.7729605436325073
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13964340835809708,
+              0.015732526779174805,
+              0.034987449645996094
+            ],
+            "min_contact_pad_to_button": 0.021387548421992936,
+            "closest_contact_pad": [
+              0.18419761955738068,
+              -0.412839930164412,
+              0.7900345128897962
+            ],
+            "closest_contact_pad_button": [
+              0.18419761955738068,
+              -0.4103077054023742,
+              0.7687973976135254
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025322247620377936,
+              0.021237115276270813
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7932b5edf7c1c88917ceafbb78238b2b6ab56cf5a784dd2de872d9b49d512c73",
+    "visual_seed": 2768699654395956149,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..61963f77e7d0763e8d52a92eadfbea01a4609be3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_23_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3705086108807402,
+              0.26847833397666304,
+              1.0069090197073391
+            ],
+            "current_z": 1.0069090197073391,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14580251169257297,
+            "gripper_z": 1.0046467753744024,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36540197967214294,
+              0.2636734500211253,
+              1.0046467753744024
+            ],
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+              0.005106631208597279,
+              0.004804883955537742,
+              0.002262244332936758
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+            "object_to_gripper_xy": 0.007011746724376439,
+            "object_to_gripper_z": 0.002262244332936758,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3705086108807402,
+              0.2438558871790037,
+              1.0069090197073391
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+            "finger_b": [
+              0.35893135117032504,
+              0.26847833397666304,
+              1.0069090197073391
+            ],
+            "finger_midpoint": [
+              0.3647199810255326,
+              0.25616711057783337,
+              1.0069090197073391
+            ],
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+              0.0057886298552076165,
+              0.012311223398829674,
+              0.0
+            ],
+            "finger_gap": 0.02720841466726732,
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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": 0.8189472706725472,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048523950525367995,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 183,
+            "max_stable_success_frames": 183,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565863881992758
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+              0.32651703984054625,
+              1.030504934961148
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+              0.004830037725472913,
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+            "max_held_gripper_dist": 0.0074344790274914335,
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+            "missing_held_position_samples": 0,
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+            "gripper_z": 1.030504934961148,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21038682611895,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_tilt_deg": 2.2593570038245514,
+            "max_source_tilt_deg": 89.67905579411757,
+            "source_upright_tilt_deg": 2.3399226718263773,
+            "max_source_upright_tilt_deg": 89.98059566911259,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.2593570038245514,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.429369702178807e-08,
+            "max_target_xy_drift": 6.265579474404885e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
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+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f164d18756d3ebefe8ce958ec45960e69e086477beb523c51a69bd959282e93",
+    "visual_seed": 1284705665201240045,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1a6b257633672a56baa7e5cd93352ea0be8b3f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_24_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
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+          "checker": "PickSuccessChecker",
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+              0.2602768965122055,
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+              0.004784397076322444,
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+              0.25272996466659003,
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+            "stable_success_frames": 179,
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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_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "missing_end_effector_orientation_samples": 0,
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+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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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,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.3260176107417514,
+              -0.360548630577318,
+              0.8470196489204986
+            ],
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+              0.3212872457613949,
+              -0.360598613858191,
+              0.8084375599031817
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+            "gripper_dist": 0.18468373832501084,
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+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587511053563009,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1517896262671318,
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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": 0.8242394990312134,
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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": 5,
+      "skill": "press",
+      "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": 0.0083543062210083,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500143931027155,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0083543062210083,
+            "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": 0.02110505372814296,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0083543062210083,
+            "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": 0.008354617875628268,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17698717117309562,
+              -0.41686007380485535,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17698717117309562,
+              -0.41686007380485535,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17736137700749083,
+              -0.4167644306455223,
+              0.8034530482973062
+            ],
+            "closest_button": [
+              0.1769156903028487,
+              -0.4168501794338227,
+              0.7684545516967773
+            ],
+            "closest_ee_minus_button": [
+              0.0004456867046421231,
+              8.574878830036603e-05,
+              0.034998496600528894
+            ],
+            "button_min_z_position": [
+              0.1769156903028487,
+              -0.4168501794338227,
+              0.7684545516967773
+            ],
+            "min_active_finger_to_button": 0.1455468060981442,
+            "closest_active_finger": [
+              0.0498177707195282,
+              -0.47862181067466736,
+              0.8098393082618713
+            ],
+            "closest_active_finger_button": [
+              0.1769958436489104,
+              -0.4168658256530762,
+              0.7752588391304016
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271780729293822,
+              -0.06175598502159113,
+              0.03458046913146973
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+            "min_contact_pad_to_button": 0.02110505372814296,
+            "closest_contact_pad": [
+              0.1769156903028487,
+              -0.41805439321636567,
+              0.7895252223561022
+            ],
+            "closest_contact_pad_button": [
+              0.1769156903028487,
+              -0.4168501794338227,
+              0.7684545516967773
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012042137825429844,
+              0.021070670659324886
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ca58885f0d476b4c5aefae17a1710947f4301e43eb35a1a7e007871aa65d1de",
+    "visual_seed": 7713678958369707883,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..47c26268edf2fc35836825fc4cfed149fa9ff429
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_25_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.2685748455253112,
+              1.0076723054436472
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+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14656585703352598,
+            "gripper_z": 1.005362488899602,
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+            "gripper_position": [
+              0.3602412993594757,
+              0.26371130193717524,
+              1.005362488899602
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+              0.005125900395189675,
+              0.0048635435881359546,
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+            "object_to_gripper_z": 0.0023098165440451623,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.36536719975466536,
+              0.2440133718483969,
+              1.0076723054436472
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+            "finger_b": [
+              0.35361044818100895,
+              0.2685748455253112,
+              1.0076723054436472
+            ],
+            "finger_midpoint": [
+              0.35948882396783716,
+              0.25629410868685404,
+              1.0076723054436472
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+              0.005878375786828205,
+              0.012280736838457151,
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+            ],
+            "finger_gap": 0.02723026251703106,
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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": 0.04988562005456543,
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+            "object_projection_between_fingers": 0.8135892188413049,
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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": 1.3146435829862395,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 183,
+            "max_stable_success_frames": 183,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "fr3_leftfinger",
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+                "robot",
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+                "split_aloha",
+                "tool_center",
+                "ur16e",
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+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500148057279855,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008362889289855957,
+            "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": 0.020994145130259136,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008362889289855957,
+            "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": 0.008363538934955454,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1750006228685379,
+              -0.4091931879520417,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1750006228685379,
+              -0.4091931879520417,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17541299102443672,
+              -0.4096995837340623,
+              0.8038093956097166
+            ],
+            "closest_button": [
+              0.17490734159946444,
+              -0.40917778015136724,
+              0.7688154578208923
+            ],
+            "closest_ee_minus_button": [
+              0.0005056494249722765,
+              -0.0005218035826950462,
+              0.034993937788824314
+            ],
+            "button_min_z_position": [
+              0.174897775053978,
+              -0.40917620062828064,
+              0.7684459686279297
+            ],
+            "min_active_finger_to_button": 0.1453754411073596,
+            "closest_active_finger": [
+              0.03442026674747467,
+              -0.39535918831825256,
+              0.8105528950691223
+            ],
+            "closest_active_finger_button": [
+              0.17500241100788116,
+              -0.4092000424861908,
+              0.7762147188186646
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1405821442604065,
+              0.013840854167938232,
+              0.034338176250457764
+            ],
+            "min_contact_pad_to_button": 0.020994145130259136,
+            "closest_contact_pad": [
+              0.174897775053978,
+              -0.4107066328236384,
+              0.7893842566918043
+            ],
+            "closest_contact_pad_button": [
+              0.174897775053978,
+              -0.40917620062828064,
+              0.7684459686279297
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001530432195357756,
+              0.020938288063874655
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e2392b23fc6253b67a283ddcd26f86b88877bcf5c7ac8c9263e629c88e61a6a4",
+    "visual_seed": 6633581471243146592,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d9e622b5185ee7042ee68e2ef92017fe10712db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_26_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36629759542037804,
+              0.2701150658476292,
+              1.0052837877739194
+            ],
+            "current_z": 1.0052837877739194,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.14417739896844295,
+            "gripper_z": 1.003003632679627,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3612986127807058,
+              0.26527088336643934,
+              1.003003632679627
+            ],
+            "object_minus_gripper": [
+              0.004998982639672245,
+              0.00484418248118984,
+              0.0022801550942923576
+            ],
+            "object_to_gripper_xy": 0.006961029474352988,
+            "object_to_gripper_z": 0.0022801550942923576,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36629759542037804,
+              0.24573525095630638,
+              1.0052837877739194
+            ],
+            "finger_b": [
+              0.35446402136284916,
+              0.2701150658476292,
+              1.0052837877739194
+            ],
+            "finger_midpoint": [
+              0.36038080839161357,
+              0.2579251584019678,
+              1.0052837877739194
+            ],
+            "object_minus_finger_midpoint": [
+              0.00591678702876447,
+              0.012189907445661397,
+              0.0
+            ],
+            "finger_gap": 0.027099978765862256,
+            "fingertip_max_gap": 0.09131447182766403,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01354998938293114,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0052837877739194,
+            "object_top_z": 1.0551723273181672,
+            "finger_top_clearance": 0.04988853954424788,
+            "fingertip_min_top_clearance": 0.014966561863274363,
+            "object_projection_between_fingers": 0.8093249078565895,
+            "object_to_finger_line_xy": 0.010645777530598553,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815723591383202,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.234307924237138,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3161237003292521,
+              0.3668445404831664,
+              0.7565864478039208
+            ],
+            "gripper_position": [
+              0.32192256527114954,
+              0.3331324967473319,
+              1.0313034222300332
+            ],
+            "target_minus_gripper": [
+              -0.005798864941897464,
+              0.033712043735834474,
+              -0.2747169744261124
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+            "held_position": [
+              0.3269065751207839,
+              0.3380461592812405,
+              1.033483821826759
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+            "held_minus_target": [
+              0.010782874791531838,
+              -0.028798381201925904,
+              0.2768973740228382
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+            "held_minus_gripper": [
+              0.004984009849634374,
+              0.004913662533908569,
+              0.0021803995967257794
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+            "xy_dist": 0.034207144392088384,
+            "held_xy_dist": 0.03075088858262948,
+            "held_gripper_dist": 0.007330660003014133,
+            "max_held_gripper_dist": 0.007401200169939576,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
+            "held_z": 1.033483821826759,
+            "required_height": 0.7865864478039208,
+            "gripper_z": 1.0313034222300332,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22330954402862,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.7756692298958476,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.296307871703018,
+            "max_source_tilt_deg": 89.84081780437104,
+            "source_upright_tilt_deg": 2.362642349229459,
+            "max_source_upright_tilt_deg": 89.7505969778019,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.296307871703018,
+            "source_upright_return_tilt_deg": 2.362642349229459,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.4901161193847656e-07,
+            "max_target_xy_drift": 2.1073424255447017e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3161,
+                0.3668,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.3161,
+                0.3668,
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+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..20a64f36658b02c6d0cf2f4f8a28b168a542e45c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_27_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.2638320287842102,
+              1.0061049568070264
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+              0.2590563429254854,
+              1.0039059043075151
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+              0.0047756858587247875,
+              0.002199052499511245
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+            "object_to_gripper_xy": 0.006836231054262914,
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+              0.2395409839586754,
+              1.0061049568070264
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+            "finger_b": [
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+              0.2638320287842102,
+              1.0061049568070264
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+              0.2516865063714428,
+              1.0061049568070264
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+              0.012145522412767396,
+              0.0
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+            "finger_gap": 0.026987227270861048,
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+              1.0
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+            "stable_success_frames": 182,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.3320874933292738,
+              1.0325572830695047
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+            "missing_target_orientation_samples": 0,
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+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
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+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+                0.3658,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571183289663166,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864705481944432,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536733523309696,
+            "release_required_pad_clearance": 0.053235274097221605,
+            "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": 1.491446846121525,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008174717426300049,
+            "max_z_decrease": 0.008174717426300049,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035014926289154674,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008174717426300049,
+            "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": 0.02113179667287748,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008174717426300049,
+            "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": 0.008175507965535124,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17587220668792725,
+              -0.411705195903778,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17587220668792725,
+              -0.411705195903778,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17572147491106857,
+              -0.41320624493626346,
+              0.8036898661972236
+            ],
+            "closest_button": [
+              0.1757635325193405,
+              -0.41170653700828547,
+              0.7687070965766907
+            ],
+            "closest_ee_minus_button": [
+              -4.205760827191707e-05,
+              -0.001499707927977989,
+              0.03498276962053293
+            ],
+            "button_min_z_position": [
+              0.17575861513614652,
+              -0.4117004573345184,
+              0.7686341404914856
+            ],
+            "min_active_finger_to_button": 0.14586488716822002,
+            "closest_active_finger": [
+              0.03484605252742767,
+              -0.39755770564079285,
+              0.8104079961776733
+            ],
+            "closest_active_finger_button": [
+              0.1758768409490585,
+              -0.4117138385772705,
+              0.7759625911712646
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14103078842163083,
+              0.014156132936477661,
+              0.03444540500640869
+            ],
+            "min_contact_pad_to_button": 0.02113179667287748,
+            "closest_contact_pad": [
+              0.17575861513614652,
+              -0.4143254092199066,
+              0.7896022700748135
+            ],
+            "closest_contact_pad_button": [
+              0.17575861513614652,
+              -0.4117004573345184,
+              0.7686341404914856
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002624951885388249,
+              0.020968129583327944
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "126017cadd78fdd1f3ed9447fdd3581b39bd853d6ca87fc1ee81a25f3163cc4b",
+    "visual_seed": 261258198669563339,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93b4485889defd4641b1a44ef003fad5859fa64a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_28_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3706707939783011,
+              0.2690280851684247,
+              1.0059574598528789
+            ],
+            "current_z": 1.0059574598528789,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.14485083262882315,
+            "gripper_z": 1.0035369418755082,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3654086688960576,
+              0.26406401500304505,
+              1.0035369418755082
+            ],
+            "object_minus_gripper": [
+              0.005262125082243496,
+              0.0049640701653796415,
+              0.00242051797737064
+            ],
+            "object_to_gripper_xy": 0.007234082733006886,
+            "object_to_gripper_z": 0.00242051797737064,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3706707939783011,
+              0.24442333872999578,
+              1.0059574598528789
+            ],
+            "finger_b": [
+              0.3587021646599569,
+              0.2690280851684247,
+              1.0059574598528789
+            ],
+            "finger_midpoint": [
+              0.364686479319129,
+              0.25672571194921023,
+              1.0059574598528789
+            ],
+            "object_minus_finger_midpoint": [
+              0.005984314659172096,
+              0.012302373219214457,
+              0.0
+            ],
+            "finger_gap": 0.027361316398508837,
+            "fingertip_max_gap": 0.09160574920094974,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013680658199254419,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0059574598528789,
+            "object_top_z": 1.0557949957695227,
+            "finger_top_clearance": 0.04983753591664386,
+            "fingertip_min_top_clearance": 0.014951260774993157,
+            "object_projection_between_fingers": 0.8086559963385153,
+            "object_to_finger_line_xy": 0.01076282607548276,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048302874600474874,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3503202681089381,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
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+            "min_active_finger_to_button": 0.14515708475469036,
+            "closest_active_finger": [
+              0.03700586408376694,
+              -0.39891183376312256,
+              0.8103805184364319
+            ],
+            "closest_active_finger_button": [
+              0.17727190256118774,
+              -0.4134521186351776,
+              0.7759625315666199
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1402660384774208,
+              0.014540284872055054,
+              0.03441798686981201
+            ],
+            "min_contact_pad_to_button": 0.0210023029453239,
+            "closest_contact_pad": [
+              0.1771785318851471,
+              -0.41449186910864017,
+              0.7895342848392769
+            ],
+            "closest_contact_pad_button": [
+              0.1771785318851471,
+              -0.4134391248226165,
+              0.7685583829879761
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010527442860236436,
+              0.020975901851300827
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f597f9b1e06c63e5fa6cf749e24da106ea085d7b5d32c49ca5bfc5fcc3ea3ee3",
+    "visual_seed": 6830310093990682632,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eca72dd2ac60db044113123db24ab2f5ed9d309
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_29_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3634859274730339,
+              0.2617402360417758,
+              1.0075523865443308
+            ],
+            "current_z": 1.0075523865443308,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14644593813420959,
+            "gripper_z": 1.0053342514918304,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3583709568279918,
+              0.2569285690403193,
+              1.0053342514918304
+            ],
+            "object_minus_gripper": [
+              0.005114970645042072,
+              0.004811667001456521,
+              0.0022181350525003474
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+            "object_to_gripper_xy": 0.007022468514172754,
+            "object_to_gripper_z": 0.0022181350525003474,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3634859274730339,
+              0.23712149842595612,
+              1.0075523865443308
+            ],
+            "finger_b": [
+              0.35189000182122687,
+              0.2617402360417758,
+              1.0075523865443308
+            ],
+            "finger_midpoint": [
+              0.3576879646471304,
+              0.24943086723386598,
+              1.0075523865443308
+            ],
+            "object_minus_finger_midpoint": [
+              0.005797962825903502,
+              0.012309368807909837,
+              0.0
+            ],
+            "finger_gap": 0.02721300669751161,
+            "fingertip_max_gap": 0.0915796016382672,
+            "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": 1.0075523865443308,
+            "object_top_z": 1.0574392966893396,
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+            "object_projection_between_fingers": 0.8184242748495024,
+            "object_to_finger_line_xy": 0.010490463409928668,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0482898008191336,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.243461065503598,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 183,
+            "max_stable_success_frames": 183,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3145801188435038,
+              0.3676364179913298,
+              0.7565866266178551
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+            "gripper_position": [
+              0.321625845752158,
+              0.3335186962124698,
+              1.0318584103539974
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+            "target_minus_gripper": [
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+              0.034117721778859966,
+              -0.27527178373614225
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+              1.0339793334257767
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+            "held_minus_target": [
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+              -0.02918332606348656,
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+            "held_minus_gripper": [
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+              0.0049343957153734075,
+              0.002120923071779357
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+            "xy_dist": 0.034837640664244614,
+            "held_xy_dist": 0.03158911300185856,
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+            "max_held_gripper_dist": 0.007431639700354691,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565866266178551,
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+            "gripper_z": 1.0318584103539974,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21028437328141,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.4540285793435905,
+            "max_source_tilt_deg": 89.73140864058882,
+            "source_upright_tilt_deg": 2.8306380991412845,
+            "max_source_upright_tilt_deg": 89.80594028499165,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.4540285793435905,
+            "source_upright_return_tilt_deg": 2.8306380991412845,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.0745380149674383e-07,
+            "max_target_xy_drift": 2.1696418193818683e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3146,
+                0.3676,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.3676,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0013,
+                -0.0002,
+                0.0003
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+              "controller_last_pour_pose_position": [
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+                0.3422,
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
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+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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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"
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+                "base_link",
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+            },
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+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.33160796264529907,
+              -0.357522486284563,
+              0.8470195284182646
+            ],
+            "target_position": [
+              0.3245591140660201,
+              -0.35894337031746687,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007190631246877013,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18474724086735794,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195284182646,
+            "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": 0.0754173691518325,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866617293031882,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15337959246387267,
+            "release_required_pad_clearance": 0.053330864651594104,
+            "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": 1.6786022699877343,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008427143096923828,
+            "max_z_decrease": 0.008427143096923828,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034989929303749716,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008427143096923828,
+            "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": 0.021204935714279446,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008427143096923828,
+            "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": 0.008427639350981335,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18025903403758994,
+              -0.4152048230171203,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18025903403758994,
+              -0.4152048230171203,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18010153304930468,
+              -0.41602380340424594,
+              0.8049653608457372
+            ],
+            "closest_button": [
+              0.18022990226745594,
+              -0.4152045845985412,
+              0.7699852585792542
+            ],
+            "closest_ee_minus_button": [
+              -0.00012836921815126412,
+              -0.0008192188057047356,
+              0.03498010226648307
+            ],
+            "button_min_z_position": [
+              0.1801689416170119,
+              -0.41518908739089955,
+              0.7683817148208618
+            ],
+            "min_active_finger_to_button": 0.14597523805395266,
+            "closest_active_finger": [
+              0.03942111134529114,
+              -0.3989495038986206,
+              0.807663083076477
+            ],
+            "closest_active_finger_button": [
+              0.18026998639106742,
+              -0.4152115881443023,
+              0.7729368805885315
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14084887504577628,
+              0.016262084245681707,
+              0.03472620248794556
+            ],
+            "min_contact_pad_to_button": 0.021204935714279446,
+            "closest_contact_pad": [
+              0.1801689416170119,
+              -0.4172525695513442,
+              0.7894860115402564
+            ],
+            "closest_contact_pad_button": [
+              0.1801689416170119,
+              -0.41518908739089955,
+              0.7683817148208618
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002063482160444663,
+              0.021104296719394622
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d9f78143f90d1284e8fcae6a5b4230c266f9fbb9f518c3cda2c81d2c5c84a56",
+    "visual_seed": 3096212279943634276,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fe48142b24f9a6e7ba6840230ebc412776ff71c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_2_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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+            "release_finger_gap": 0.07554594634833146,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584777512267198,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15552939226331708,
+            "release_required_pad_clearance": 0.052923887561335994,
+            "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": 0.8855796050462905,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008200526237487793,
+            "max_z_decrease": 0.008200526237487793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498494486049802,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008200526237487793,
+            "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": 0.021252500993027827,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008200526237487793,
+            "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": 0.008200731423895272,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17829577624797824,
+              -0.4131733775138854,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17829577624797824,
+              -0.4131733775138854,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.178327431054388,
+              -0.4136522051701742,
+              0.8056094104022465
+            ],
+            "closest_button": [
+              0.1782355457544327,
+              -0.41316524147987355,
+              0.7706279754638672
+            ],
+            "closest_ee_minus_button": [
+              9.18852999552966e-05,
+              -0.0004869636903006569,
+              0.03498143493837935
+            ],
+            "button_min_z_position": [
+              0.17823831737041473,
+              -0.4131653904914855,
+              0.7686083316802979
+            ],
+            "min_active_finger_to_button": 0.14602231591572246,
+            "closest_active_finger": [
+              0.03764209896326065,
+              -0.3953261971473694,
+              0.8079710602760315
+            ],
+            "closest_active_finger_button": [
+              0.1783169955015183,
+              -0.4131819903850555,
+              0.7731248140335083
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14067489653825765,
+              0.0178557932376861,
+              0.03484624624252319
+            ],
+            "min_contact_pad_to_button": 0.021252500993027827,
+            "closest_contact_pad": [
+              0.17823831737041473,
+              -0.41505665492818505,
+              0.7897765133993101
+            ],
+            "closest_contact_pad_button": [
+              0.17823831737041473,
+              -0.4131653904914855,
+              0.7686083316802979
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001891264436699569,
+              0.021168181719012247
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "08eb1c3e24fd5f970d161e8ac3adde12d5c98d9bddc2a13c6d2777a35bdd4eb9",
+    "visual_seed": 6539493413817732486,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b563bff53b613e8ec1aa78054e10d558d41c07f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_31_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37098040187339276,
+              0.26672004809912403,
+              1.0054432426110598
+            ],
+            "current_z": 1.0054432426110598,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.14433643657306994,
+            "gripper_z": 1.003445878581982,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3659958255924264,
+              0.2619181475989989,
+              1.003445878581982
+            ],
+            "object_minus_gripper": [
+              0.00498457628096638,
+              0.004801900500125134,
+              0.001997364029077797
+            ],
+            "object_to_gripper_xy": 0.006921289555702364,
+            "object_to_gripper_z": 0.001997364029077797,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37098040187339276,
+              0.24234675425482965,
+              1.0054432426110598
+            ],
+            "finger_b": [
+              0.3592156168990794,
+              0.26672004809912403,
+              1.0054432426110598
+            ],
+            "finger_midpoint": [
+              0.36509800938623604,
+              0.25453340117697687,
+              1.0054432426110598
+            ],
+            "object_minus_finger_midpoint": [
+              0.005882392487156718,
+              0.01218664692214716,
+              0.0
+            ],
+            "finger_gap": 0.02706413897230333,
+            "fingertip_max_gap": 0.09161785979224704,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013532069486151653,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0054432426110598,
+            "object_top_z": 1.0553106176433504,
+            "finger_top_clearance": 0.04986737503229066,
+            "fingertip_min_top_clearance": 0.014960212509687182,
+            "object_projection_between_fingers": 0.8110357891168303,
+            "object_to_finger_line_xy": 0.01059507422302728,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830892989612352,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5344282233937145,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
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+              0.7683790326118469
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020977404385519427
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cece48036a327da7b85811c6e1539ef948f5f1f1ec0fa24c98121f6b26476ee9",
+    "visual_seed": 3098104248520702919,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da50a9c6b8c53257f03fb443170c72ec0403033b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_32_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.37092340231693316,
+              0.26937218867034435,
+              1.0048573165987567
+            ],
+            "current_z": 1.0048573165987567,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.14375068937470104,
+            "gripper_z": 1.002948099956207,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3656670040881782,
+              0.2644045577451935,
+              1.002948099956207
+            ],
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+              0.005256398228754955,
+              0.0049676309251508455,
+              0.001909216642549616
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+            "object_to_gripper_xy": 0.007232363330735899,
+            "object_to_gripper_z": 0.001909216642549616,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.37092340231693316,
+              0.2448067017592424,
+              1.0048573165987567
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+            "finger_b": [
+              0.3589135823642755,
+              0.26937218867034435,
+              1.0048573165987567
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+            "finger_midpoint": [
+              0.36491849234060436,
+              0.2570894452147934,
+              1.0048573165987567
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+              0.006004909976328798,
+              0.01228274345555097,
+              0.0
+            ],
+            "finger_gap": 0.027344083866071917,
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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": 0.010789429856078208,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847339488920287,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
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+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.36321819389503157,
+              0.7565864478039208
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+            "gripper_position": [
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+              0.3291179116110434,
+              1.0299235302443366
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+              0.03410028228398815,
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+              0.33407606250855293,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004958150897509506,
+              0.0018013045777860448
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+            "max_held_gripper_dist": 0.0075326793666510945,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
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+            "gripper_z": 1.0299235302443366,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22554984607639,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.3302817342726163,
+            "max_source_tilt_deg": 89.98226272975266,
+            "source_upright_tilt_deg": 2.119119116405139,
+            "max_source_upright_tilt_deg": 89.79265268496091,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.3302817342726163,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.664001874625056e-08,
+            "max_target_xy_drift": 7.754332918678336e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                0.3632,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.3632,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6145728826522827
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.3286749073965898,
+              -0.35630093168227084,
+              0.847019629677447
+            ],
+            "target_position": [
+              0.319991392285784,
+              -0.35860496282111687,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008983985427880242,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18870542151102615,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019629677447,
+            "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": 0.07557114269595015,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625267009811403,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15693581178737526,
+            "release_required_pad_clearance": 0.05312633504905702,
+            "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": 1.2783805732348321,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00832897424697876,
+            "max_z_decrease": 0.00832897424697876,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507766501702402,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00832897424697876,
+            "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": 0.021166908586296086,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00832897424697876,
+            "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": 0.008329291846841134,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17569132149219518,
+              -0.41486641764640797,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17569132149219518,
+              -0.41486641764640797,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17690219614244387,
+              -0.4166951725719661,
+              0.8034854294753047
+            ],
+            "closest_button": [
+              0.1756210178136826,
+              -0.4148477613925933,
+              0.7684798836708069
+            ],
+            "closest_ee_minus_button": [
+              0.0012811783287612621,
+              -0.0018474111793728154,
+              0.03500554580449777
+            ],
+            "button_min_z_position": [
+              0.1756210178136826,
+              -0.4148477613925933,
+              0.7684798836708069
+            ],
+            "min_active_finger_to_button": 0.14451709359892054,
+            "closest_active_finger": [
+              0.03595093637704849,
+              -0.401749849319458,
+              0.8103175163269043
+            ],
+            "closest_active_finger_button": [
+              0.17569722235202795,
+              -0.4148743748664855,
+              0.7759094834327698
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13974628597497946,
+              0.013124525547027477,
+              0.03440803289413452
+            ],
+            "min_contact_pad_to_button": 0.021166908586296086,
+            "closest_contact_pad": [
+              0.1756210178136826,
+              -0.4177665173791241,
+              0.7894445893112805
+            ],
+            "closest_contact_pad_button": [
+              0.1756210178136826,
+              -0.4148477613925933,
+              0.7684798836708069
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002918755986530852,
+              0.02096470564047359
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b04308eb0c460119d3cbf6bed6b1db0a288efc5b411cc513f22ccdd60ca8731",
+    "visual_seed": 2543016567318533422,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..80bd5210d3518809cfd574c51842f8d36e93f904
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_33_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3647956714911471,
+              0.26764908168993246,
+              1.0068458585510731
+            ],
+            "current_z": 1.0068458585510731,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.14573917172237294,
+            "gripper_z": 1.004785307671239,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35966148768145934,
+              0.2628884165844183,
+              1.004785307671239
+            ],
+            "object_minus_gripper": [
+              0.005134183809687776,
+              0.00476066510551415,
+              0.0020605508798341443
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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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008164644241333008,
+            "max_z_decrease": 0.008164644241333008,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035022244185874706,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008164644241333008,
+            "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": 0.021154198368872845,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008164644241333008,
+            "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": 0.00816508413667523,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17448231577873224,
+              -0.4156145751476288,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17448231577873224,
+              -0.4156145751476288,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17283982791490207,
+              -0.4169506495380713,
+              0.8036065013847173
+            ],
+            "closest_button": [
+              0.17439778149127955,
+              -0.4156206846237183,
+              0.7686442136764526
+            ],
+            "closest_ee_minus_button": [
+              -0.0015579535763774743,
+              -0.001329964914352999,
+              0.034962287708264705
+            ],
+            "button_min_z_position": [
+              0.17439778149127955,
+              -0.4156206846237183,
+              0.7686442136764526
+            ],
+            "min_active_finger_to_button": 0.14733181012733396,
+            "closest_active_finger": [
+              0.032246969640254974,
+              -0.3990195393562317,
+              0.8087862133979797
+            ],
+            "closest_active_finger_button": [
+              0.17449510097503657,
+              -0.41562971472740173,
+              0.7741996049880981
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1422481313347816,
+              0.016610175371170044,
+              0.03458660840988159
+            ],
+            "min_contact_pad_to_button": 0.021154198368872845,
+            "closest_contact_pad": [
+              0.17439778149127955,
+              -0.4182849654158978,
+              0.7896299639963732
+            ],
+            "closest_contact_pad_button": [
+              0.17439778149127955,
+              -0.4156206846237183,
+              0.7686442136764526
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026642807921795075,
+              0.02098575031992056
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7bc146d096b0eb5c3fb428f78050d139d175985e1eea8c7c75a3cafcd00f0ec4",
+    "visual_seed": 745465337823745859,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d47248b49d4a8a534c7b5753e1bd3988fd232eb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_34_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3629869731621572,
+              0.26754954096480726,
+              1.0040407631574522
+            ],
+            "current_z": 1.0040407631574522,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.14293437435197565,
+            "gripper_z": 1.0017945740015965,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35789701279560265,
+              0.26272229489978627,
+              1.0017945740015965
+            ],
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+              0.005089960366554569,
+              0.004827246065020996,
+              0.0022461891558556157
+            ],
+            "object_to_gripper_xy": 0.00701498404170366,
+            "object_to_gripper_z": 0.0022461891558556157,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3629869731621572,
+              0.24297493517813587,
+              1.0040407631574522
+            ],
+            "finger_b": [
+              0.35133541683050806,
+              0.26754954096480726,
+              1.0040407631574522
+            ],
+            "finger_midpoint": [
+              0.35716119499633264,
+              0.2552622380714716,
+              1.0040407631574522
+            ],
+            "object_minus_finger_midpoint": [
+              0.00582577816582458,
+              0.012287302893335683,
+              0.0
+            ],
+            "finger_gap": 0.027196875087404742,
+            "fingertip_max_gap": 0.0910957907260054,
+            "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": 1.0040407631574522,
+            "object_top_z": 1.0537650743277647,
+            "finger_top_clearance": 0.04972431117031251,
+            "fingertip_min_top_clearance": 0.014917293351093751,
+            "object_projection_between_fingers": 0.8164603643724674,
+            "object_to_finger_line_xy": 0.010528136145467598,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048047895363002704,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1176486910360937,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3166383566345652,
+              0.3613379057709471,
+              0.7565865670132101
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+            "gripper_position": [
+              0.32415540633099726,
+              0.3281068575916471,
+              1.0329078327898076
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+            "target_minus_gripper": [
+              -0.0075170496964320765,
+              0.033231048179300005,
+              -0.27632126577659744
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+            "held_position": [
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+              0.3329660652120918,
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+            "held_minus_target": [
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+              -0.028371840558855277,
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+            "held_minus_gripper": [
+              0.005110748107125529,
+              0.004859207620444728,
+              0.002144747291834559
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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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c2d924473ba063f0306eddaabd273616c9a5eb20c1d952f8e15b33a67acb471",
+    "visual_seed": 1123817965207858922,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b337d6d98448d2e50ee3c30dc5e6faa7568bff7f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_35_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.36297683332216296,
+              0.2707296528560351,
+              1.005500189621653
+            ],
+            "current_z": 1.005500189621653,
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+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14439368160688693,
+            "gripper_z": 1.0032518414242393,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3580938230112981,
+              0.2659752737500458,
+              1.0032518414242393
+            ],
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+              0.004883010310864855,
+              0.004754379105989304,
+              0.0022483481974138186
+            ],
+            "object_to_gripper_xy": 0.006815270381978997,
+            "object_to_gripper_z": 0.0022483481974138186,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.36297683332216296,
+              0.24642194205523765,
+              1.005500189621653
+            ],
+            "finger_b": [
+              0.35128001909856965,
+              0.2707296528560351,
+              1.005500189621653
+            ],
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+              0.35712842621036633,
+              0.2585757974556364,
+              1.005500189621653
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+              0.005848407111796627,
+              0.012153855400398705,
+              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_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877918126298671,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6380270413283453,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3132191063847025,
+              0.36501348579566645,
+              0.756586388199276
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+            "gripper_position": [
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+              0.332454928008528,
+              1.0311246727223913
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+              0.032558557787138453,
+              -0.27453828452311524
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+            "held_position": [
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004700025889386006,
+              0.0021504594711894143
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+            "held_gripper_dist": 0.007182848687831794,
+            "max_held_gripper_dist": 0.007254746772179336,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "gripper_z": 1.0311246727223913,
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+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22398573275645,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.5880154825119255,
+            "max_source_tilt_deg": 89.61861404169258,
+            "source_upright_tilt_deg": 2.713218280351369,
+            "max_source_upright_tilt_deg": 89.89566121527507,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.5880154825119255,
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+            "target_xy_drift": 4.2146848510894035e-08,
+            "max_target_xy_drift": 5.479090306416224e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3132,
+                0.365,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.365,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0006
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
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+              "source_size": [
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+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                  1.0,
+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6147814989089966
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              0.3408,
+              1.0212
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
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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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.3300851274340377,
+              -0.3570395885874594,
+              0.8470196339918136
+            ],
+            "target_position": [
+              0.3220080380672702,
+              -0.3589864977196513,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008308419091966937,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1858235284731088,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196339918136,
+            "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": 0.07521073315094119,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544468407915488,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15503921353438135,
+            "release_required_pad_clearance": 0.052722342039577444,
+            "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": 0.49732069009155144,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008275330066680908,
+            "max_z_decrease": 0.008275330066680908,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035029896110601595,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008275330066680908,
+            "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": 0.02105193219419088,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008275330066680908,
+            "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": 0.008275647012067561,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17770797014236442,
+              -0.4152479469776153,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17770797014236442,
+              -0.4152479469776153,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17760860009868243,
+              -0.4137747669536641,
+              0.8035323774544849
+            ],
+            "closest_button": [
+              0.17763555049896232,
+              -0.41524901986122126,
+              0.7685335278511047
+            ],
+            "closest_ee_minus_button": [
+              -2.6950400279890374e-05,
+              0.0014742529075571498,
+              0.03499884960338018
+            ],
+            "button_min_z_position": [
+              0.17763555049896232,
+              -0.41524901986122126,
+              0.7685335278511047
+            ],
+            "min_active_finger_to_button": 0.14535896888425665,
+            "closest_active_finger": [
+              0.05032407492399216,
+              -0.47614458203315735,
+              0.8104566335678101
+            ],
+            "closest_active_finger_button": [
+              0.17771661281585688,
+              -0.41525632143020624,
+              0.7759169340133667
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12739253789186472,
+              -0.060888260602951105,
+              0.03453969955444336
+            ],
+            "min_contact_pad_to_button": 0.02105193219419088,
+            "closest_contact_pad": [
+              0.17763555049896232,
+              -0.41524901986122126,
+              0.7895854600452956
+            ],
+            "closest_contact_pad_button": [
+              0.17763555049896232,
+              -0.41524901986122126,
+              0.7685335278511047
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105193219419088
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a09c0734813f2d363d5b077c28c0db415a2c6f9219445e9a0d5a8cf671dc2d8",
+    "visual_seed": 6866610452627246704,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e14e43614398579361a63811fbd2145817c42b9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_36_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36813242952054864,
+              0.2683053321950871,
+              1.004252003107749
+            ],
+            "current_z": 1.004252003107749,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.14314525667440403,
+            "gripper_z": 1.0017421432213824,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36300678405520115,
+              0.2635773186808555,
+              1.0017421432213824
+            ],
+            "object_minus_gripper": [
+              0.005125645465347495,
+              0.004728013514231633,
+              0.00250985988636665
+            ],
+            "object_to_gripper_xy": 0.006973259870906454,
+            "object_to_gripper_z": 0.00250985988636665,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36813242952054864,
+              0.2435650318582691,
+              1.004252003107749
+            ],
+            "finger_b": [
+              0.35681946048790814,
+              0.2683053321950871,
+              1.004252003107749
+            ],
+            "finger_midpoint": [
+              0.3624759450042284,
+              0.2559351820266781,
+              1.004252003107749
+            ],
+            "object_minus_finger_midpoint": [
+              0.005656484516320226,
+              0.012370150168409033,
+              0.0
+            ],
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008411586284637451,
+            "max_z_decrease": 0.008411586284637451,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500455300239805,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008411586284637451,
+            "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": 0.020986168721284896,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008411586284637451,
+            "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": 0.008411836343371351,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1780411452054977,
+              -0.40844506025314326,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1780411452054977,
+              -0.40844506025314326,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17678140749903615,
+              -0.40868296883977195,
+              0.8033805474550262
+            ],
+            "closest_button": [
+              0.17797674238681788,
+              -0.4084373712539673,
+              0.7683972716331482
+            ],
+            "closest_ee_minus_button": [
+              -0.0011953348877817294,
+              -0.00024559758580466884,
+              0.03498327582187799
+            ],
+            "button_min_z_position": [
+              0.17797674238681788,
+              -0.4084373712539673,
+              0.7683972716331482
+            ],
+            "min_active_finger_to_button": 0.14703271625702277,
+            "closest_active_finger": [
+              0.050385624170303345,
+              -0.472822904586792,
+              0.8110941052436829
+            ],
+            "closest_active_finger_button": [
+              0.17804470658302302,
+              -0.4084506332874298,
+              0.7767722606658936
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12765908241271967,
+              -0.06437227129936218,
+              0.03432184457778931
+            ],
+            "min_contact_pad_to_button": 0.020986168721284896,
+            "closest_contact_pad": [
+              0.17797674238681788,
+              -0.40974423031104196,
+              0.7893427102058584
+            ],
+            "closest_contact_pad_button": [
+              0.17797674238681788,
+              -0.4084373712539673,
+              0.7683972716331482
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013068590570746719,
+              0.02094543857271025
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2deb3ff3147ab7d65bb9fa5158b55982305c1edd347a6ccfa3aa93073f148d5f",
+    "visual_seed": 573307105550595808,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f70dfd7f8f9eab28efd7f21a101bf433e76cedcd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_37_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.37160631099159414,
+              0.26257340995118283,
+              1.0081013921050233
+            ],
+            "current_z": 1.0081013921050233,
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+            "lift_margin": 0.14699458606703342,
+            "gripper_z": 1.0054832101337352,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36716008108113063,
+              0.2580164433326932,
+              1.0054832101337352
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+              0.004446229910463506,
+              0.004556966618489644,
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+            "object_to_gripper_xy": 0.006366702849884645,
+            "object_to_gripper_z": 0.002618181971288047,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.37160631099159414,
+              0.2385418483983603,
+              1.0081013921050233
+            ],
+            "finger_b": [
+              0.360219623376249,
+              0.26257340995118283,
+              1.0081013921050233
+            ],
+            "finger_midpoint": [
+              0.3659129671839216,
+              0.25055762917477153,
+              1.0081013921050233
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+              0.005693343807672557,
+              0.0120157807764113,
+              0.0
+            ],
+            "finger_gap": 0.026592717151817196,
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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": 1.0581720353080857,
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+            "object_projection_between_fingers": 0.8166548677960362,
+            "object_to_finger_line_xy": 0.010290031016715037,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04795652529108817,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1370180062290282,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 184,
+            "max_stable_success_frames": 184,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.756586388199276
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+              0.3273351460497967,
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+              0.0045734296416840015,
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+            "max_held_gripper_dist": 0.0069852788599272615,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0304113863881577,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.1854361450809,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 0.4404936155337999,
+            "source_start_max_tilt_deg": 20.0,
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e839403b4fac3912225fb35106f2af1c0a7768820c2a4ada8aa5933984fa1a72",
+    "visual_seed": 5821844124769183034,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03f05fca49e799b79988a5b0b5721b20b40b677a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_38_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "failure_messages": {},
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+              "allowed_objects": [
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
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+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+          }
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
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+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+              "skill": "pour",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              }
+            ],
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+            "last_frame": {
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+              "source_missing": false,
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+              "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,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
+        "attach_used": false,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.3276268824962333,
+              -0.35265312090384837,
+              0.847019019263064
+            ],
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+              -0.35388047067596856,
+              0.8084375599031817
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+            "gripper_dist": 0.19020612657929684,
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+            "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_min_pad_clearance": 0.1575385396466219,
+            "release_required_pad_clearance": 0.052737560393008906,
+            "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": 0.5263742251023954,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008360087871551514,
+            "max_z_decrease": 0.008360087871551514,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503417805780328,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008360087871551514,
+            "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": 0.021039614651648938,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008360087871551514,
+            "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": 0.008360738658492285,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1746883094310761,
+              -0.41014191508293146,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1746883094310761,
+              -0.41014191508293146,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17331984220750038,
+              -0.41164623088510516,
+              0.8037929585962983
+            ],
+            "closest_button": [
+              0.17459230124950414,
+              -0.41013002395629883,
+              0.768814742565155
+            ],
+            "closest_ee_minus_button": [
+              -0.0012724590420037651,
+              -0.0015162069288063296,
+              0.03497821603114326
+            ],
+            "button_min_z_position": [
+              0.17458495497703558,
+              -0.4101277887821197,
+              0.7684487700462341
+            ],
+            "min_active_finger_to_button": 0.14698172438135923,
+            "closest_active_finger": [
+              0.032298117876052856,
+              -0.39771637320518494,
+              0.8104665279388428
+            ],
+            "closest_active_finger_button": [
+              0.17468859255313876,
+              -0.4101471304893493,
+              0.7762020230293274
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1423904746770859,
+              0.012430757284164373,
+              0.03426450490951538
+            ],
+            "min_contact_pad_to_button": 0.021039614651648938,
+            "closest_contact_pad": [
+              0.17458495497703558,
+              -0.4126191377852364,
+              0.7893403608146402
+            ],
+            "closest_contact_pad_button": [
+              0.17458495497703558,
+              -0.4101277887821197,
+              0.7684487700462341
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002491349003116705,
+              0.020891590768406076
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4daed5d2930bfd17128e9b5446af341ad72a9da34c8dd70aeaf4bc630f5810ff",
+    "visual_seed": 5642787842531427210,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be9ed7ac49bbc9e271edd338fe8918b1a19bf73e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_3_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3653193292808607,
+              0.26870624546512395,
+              1.0063824325592643
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+            "current_z": 1.0063824325592643,
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+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14527592454449845,
+            "gripper_z": 1.0039274882508984,
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+            "gripper_position": [
+              0.36028591043609415,
+              0.26397115219017564,
+              1.0039274882508984
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+              0.005033418844766546,
+              0.00473509327494831,
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+            "object_to_gripper_xy": 0.006910601535996103,
+            "object_to_gripper_z": 0.002454944308365903,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3653193292808607,
+              0.2441093603195906,
+              1.0063824325592643
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+            "finger_b": [
+              0.3538776849843922,
+              0.26870624546512395,
+              1.0063824325592643
+            ],
+            "finger_midpoint": [
+              0.3595985071326264,
+              0.25640780289235726,
+              1.0063824325592643
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+              0.0057208221482342725,
+              0.012298442572766688,
+              0.0
+            ],
+            "finger_gap": 0.02712780829830285,
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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": 0.8221116656765375,
+            "object_to_finger_line_xy": 0.010374181634639778,
+            "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": 0.47012845353105676,
+            "object_max_tilt_deg": 15.0,
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+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_joint5",
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+                "mobile_translate_y",
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+                "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",
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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",
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+                },
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+                "Robotiq_2F_85",
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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",
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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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00841379165649414,
+            "max_z_decrease": 0.00841379165649414,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509133503011034,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00841379165649414,
+            "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": 0.021035682376695286,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00841379165649414,
+            "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": 0.008414154242301913,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1794194430112839,
+              -0.4071057438850403,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1794194430112839,
+              -0.4071057438850403,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18072224841115142,
+              -0.40508513356354686,
+              0.8034013564423892
+            ],
+            "closest_button": [
+              0.17934162914752963,
+              -0.4070989191532135,
+              0.7683950662612915
+            ],
+            "closest_ee_minus_button": [
+              0.0013806192636217907,
+              0.002013785589666639,
+              0.03500629018109769
+            ],
+            "button_min_z_position": [
+              0.17934162914752963,
+              -0.4070989191532135,
+              0.7683950662612915
+            ],
+            "min_active_finger_to_button": 0.1438731085378075,
+            "closest_active_finger": [
+              0.05427069216966629,
+              -0.4691303074359894,
+              0.8106579780578613
+            ],
+            "closest_active_finger_button": [
+              0.17942684888839722,
+              -0.407112717628479,
+              0.7761728167533875
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12515615671873093,
+              -0.062017589807510376,
+              0.03448516130447388
+            ],
+            "min_contact_pad_to_button": 0.021035682376695286,
+            "closest_contact_pad": [
+              0.17934162914752963,
+              -0.4070989191532135,
+              0.7894307486379868
+            ],
+            "closest_contact_pad_button": [
+              0.17934162914752963,
+              -0.4070989191532135,
+              0.7683950662612915
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021035682376695286
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f035979a615840e4366018d39b00ae73ed765d5d1430ce227bd9e44bf6f4ce30",
+    "visual_seed": 6881258189996729603,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e741f2446789017fc4c98e3d72ee713f3bb2afc0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_40_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.36920757697363393,
+              0.26497776867010314,
+              1.0060810298338263
+            ],
+            "current_z": 1.0060810298338263,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14497452181906023,
+            "gripper_z": 1.0040227754035953,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3641147568441543,
+              0.26012522041570707,
+              1.0040227754035953
+            ],
+            "object_minus_gripper": [
+              0.005092820129479647,
+              0.004852548254396072,
+              0.002058254430230999
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+            "object_to_gripper_xy": 0.007034489422301768,
+            "object_to_gripper_z": 0.002058254430230999,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36920757697363393,
+              0.24046264636818457,
+              1.0060810298338263
+            ],
+            "finger_b": [
+              0.35742103758441396,
+              0.26497776867010314,
+              1.0060810298338263
+            ],
+            "finger_midpoint": [
+              0.3633143072790239,
+              0.25272020751914387,
+              1.0060810298338263
+            ],
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+              0.005893269694610015,
+              0.012257561150959273,
+              0.0
+            ],
+            "finger_gap": 0.027201355338505828,
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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": 0.8122449892220899,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048372141685413664,
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 183,
+            "max_stable_success_frames": 183,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.33898836496230966,
+              1.0303939477673185
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+              0.004832765100894532,
+              0.0020111342420494616
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+            "max_held_gripper_dist": 0.007394372171891008,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0303939477673185,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.19105739076782,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.2216656713754492,
+            "max_source_tilt_deg": 89.99905449922696,
+            "source_upright_tilt_deg": 2.412892752398793,
+            "max_source_upright_tilt_deg": 89.81139059790192,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.2216656713754492,
+            "source_upright_return_tilt_deg": 2.412892752398793,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.2146848510894033e-07,
+            "max_target_xy_drift": 6.265579474457693e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
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+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8caa0119f8b6d94f4412a8cddaa998af9d3e690d4e9ce39b800e72b319680132",
+    "visual_seed": 4194117995908489122,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8980260a53e803d0edc60e5d8409cea897ed051b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_41_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "success": true,
+      "reason": "executed",
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+              1.0075483864819335
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+              0.26182571592769965,
+              1.0053478076775237
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+              0.004680822348244573,
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+              0.2422821283185815,
+              1.0075483864819335
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+              1.0075483864819335
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+              0.25439433329726285,
+              1.0075483864819335
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+              0.012112204978681373,
+              0.0
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+              1.0
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+            "stable_success_frames": 183,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "target_position": [
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+              0.3326931837373988,
+              1.030048238646128
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+            "max_target_tilt_deg": 0.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+            "valid_pour_pose_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": 4,
+      "skill": "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": [
+              0.32677652359108705,
+              -0.35489851666438155,
+              0.847019483518515
+            ],
+            "target_position": [
+              0.32101418214066985,
+              -0.35445755952913405,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005779188713506592,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1875904678746578,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019483518515,
+            "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": 0.07553225176951348,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08526146854091358,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1554374497042176,
+            "release_required_pad_clearance": 0.052630734270456794,
+            "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": 0.3214248057931075,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008483648300170898,
+            "max_z_decrease": 0.008483648300170898,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499081836728934,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008483648300170898,
+            "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": 0.02098242647395483,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008483648300170898,
+            "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": 0.008484325000607485,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17671410739421844,
+              -0.41071900725364685,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17671410739421844,
+              -0.41071900725364685,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17628997991344775,
+              -0.411014489317739,
+              0.8036255923000415
+            ],
+            "closest_button": [
+              0.17662318050861356,
+              -0.41072025895118713,
+              0.7686375975608826
+            ],
+            "closest_ee_minus_button": [
+              -0.00033320059516581124,
+              -0.00029423036655185086,
+              0.03498799473915892
+            ],
+            "button_min_z_position": [
+              0.17660880088806152,
+              -0.41069918870925903,
+              0.7683252096176147
+            ],
+            "min_active_finger_to_button": 0.14626128893815404,
+            "closest_active_finger": [
+              0.03530382364988327,
+              -0.39618781208992004,
+              0.8104546070098877
+            ],
+            "closest_active_finger_button": [
+              0.17671778798103333,
+              -0.4107272624969482,
+              0.7760589718818665
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14141396433115005,
+              0.014539450407028143,
+              0.03439563512802124
+            ],
+            "min_contact_pad_to_button": 0.02098242647395483,
+            "closest_contact_pad": [
+              0.17660880088806152,
+              -0.4119801181703931,
+              0.7892685006782508
+            ],
+            "closest_contact_pad_button": [
+              0.17660880088806152,
+              -0.41069918870925903,
+              0.7683252096176147
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012809294611340616,
+              0.020943291060636082
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b756ef3f74d7ee4e240e047b15b9b18a9f2429528478f27dee00bef3af39414c",
+    "visual_seed": 9153129191324500025,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95d3d21900c9cc71f1b0c6eb44428a415bcead06
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_42_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3679314206570684,
+              0.26590477963910514,
+              1.0056562523484849
+            ],
+            "current_z": 1.0056562523484849,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.14454944631049504,
+            "gripper_z": 1.0032256288160826,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3629667978041222,
+              0.261180764617185,
+              1.0032256288160826
+            ],
+            "object_minus_gripper": [
+              0.004964622852946188,
+              0.004724015021920158,
+              0.0024306235324023096
+            ],
+            "object_to_gripper_xy": 0.0068530137895179265,
+            "object_to_gripper_z": 0.0024306235324023096,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3679314206570684,
+              0.24141248634425946,
+              1.0056562523484849
+            ],
+            "finger_b": [
+              0.3564394475477952,
+              0.26590477963910514,
+              1.0056562523484849
+            ],
+            "finger_midpoint": [
+              0.3621854341024318,
+              0.2536586329916823,
+              1.0056562523484849
+            ],
+            "object_minus_finger_midpoint": [
+              0.005745986554636595,
+              0.01224614664742285,
+              0.0
+            ],
+            "finger_gap": 0.0270543504225291,
+            "fingertip_max_gap": 0.09173570079531249,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013527175211264562,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0056562523484849,
+            "object_top_z": 1.0555231070637718,
+            "finger_top_clearance": 0.04986685471528696,
+            "fingertip_min_top_clearance": 0.014960056414586103,
+            "object_projection_between_fingers": 0.8195674112066056,
+            "object_to_finger_line_xy": 0.010403678947486887,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048367850397656245,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4146649498544148,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+            "closest_ee_minus_button": [
+              0.0010566908414664233,
+              -0.0012347406756874624,
+              0.03499460567592283
+            ],
+            "button_min_z_position": [
+              0.17570109665393824,
+              -0.41464963555335993,
+              0.7685486674308777
+            ],
+            "min_active_finger_to_button": 0.14480142279292943,
+            "closest_active_finger": [
+              0.03582743555307388,
+              -0.40086838603019714,
+              0.8103882074356079
+            ],
+            "closest_active_finger_button": [
+              0.1758012324571609,
+              -0.4146681129932403,
+              0.7759737372398376
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.139973796904087,
+              0.013799726963043157,
+              0.034414470195770264
+            ],
+            "min_contact_pad_to_button": 0.02109184302076769,
+            "closest_contact_pad": [
+              0.17571397125720972,
+              -0.41696880192265345,
+              0.789876359632135
+            ],
+            "closest_contact_pad_button": [
+              0.17571397125720972,
+              -0.414656400680542,
+              0.7689116597175598
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023124012421114615,
+              0.02096469991457517
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2fb9a1d0b51458ede1e59ac51c5d6fccd5e1762059269f6bf8445c2155575e50",
+    "visual_seed": 376623881643328847,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8a217d4f2c46be7f7dc09c905932abc61bfb19b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_43_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3722238690423467,
+              0.27090639554540613,
+              1.0040634525859744
+            ],
+            "current_z": 1.0040634525859744,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.142956765757274,
+            "gripper_z": 1.002301720977167,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3668977914372664,
+              0.266048125739651,
+              1.002301720977167
+            ],
+            "object_minus_gripper": [
+              0.005326077605080304,
+              0.0048582698057551554,
+              0.0017617316088074375
+            ],
+            "object_to_gripper_xy": 0.00720901436819557,
+            "object_to_gripper_z": 0.0017617316088074375,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3722238690423467,
+              0.24608581043183192,
+              1.0040634525859744
+            ],
+            "finger_b": [
+              0.3606432908771201,
+              0.27090639554540613,
+              1.0040634525859744
+            ],
+            "finger_midpoint": [
+              0.3664335799597334,
+              0.258496102988619,
+              1.0040634525859744
+            ],
+            "object_minus_finger_midpoint": [
+              0.005790289082613309,
+              0.012410292556787106,
+              0.0
+            ],
+            "finger_gap": 0.02738925402454593,
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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": 1.0040634525859744,
+            "object_top_z": 1.0540811365347367,
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+            "fingertip_min_top_clearance": 0.015005305184628663,
+            "object_projection_between_fingers": 0.8212277621410287,
+            "object_to_finger_line_xy": 0.010494507289494226,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048249834617262524,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1512819000362733,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3205885054554424,
+              0.3612777944866911,
+              0.7565864478039208
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+            "gripper_position": [
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+              0.32868313010996186,
+              1.0326194893208425
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+              0.032594664376729254,
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+            "held_position": [
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+              0.33360533516902025,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004922205059058382,
+              0.0016530482414456316
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+            "held_gripper_dist": 0.007423665071894572,
+            "max_held_gripper_dist": 0.007466289283612843,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
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+            "required_height": 0.7865864478039208,
+            "gripper_z": 1.0326194893208425,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23359580891866,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.714997496598385,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.359211867423579,
+            "max_source_tilt_deg": 89.74232710974736,
+            "source_upright_tilt_deg": 2.407666640662673,
+            "max_source_upright_tilt_deg": 89.88110657452991,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.359211867423579,
+            "source_upright_return_tilt_deg": 2.407666640662673,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.7881393432617188e-07,
+            "max_target_xy_drift": 3.2098083538618706e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3206,
+                0.3613,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.3613,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0005,
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+              "controller_last_pour_pose_position": [
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+                1.0229
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+            "stable_success_frames": 382,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "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"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.32427559192504446,
+              -0.3569854659792766,
+              0.8470195709184902
+            ],
+            "target_position": [
+              0.319037879145709,
+              -0.3573958405720925,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005253764599336607,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18488147356038365,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195709184902,
+            "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": 0.07569539512075452,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550093771642552,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15271923926894024,
+            "release_required_pad_clearance": 0.05275046885821276,
+            "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": 0.5510726575297609,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00842827558517456,
+            "max_z_decrease": 0.00842827558517456,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034984898209319444,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00842827558517456,
+            "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": 0.020984606481263473,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00842827558517456,
+            "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": 0.008428469348533377,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17473781108856204,
+              -0.4136573076248169,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17473781108856204,
+              -0.4136573076248169,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1731768391507189,
+              -0.4131955370353883,
+              0.8033301723423304
+            ],
+            "closest_button": [
+              0.17468117177486422,
+              -0.41364967823028564,
+              0.7683805823326111
+            ],
+            "closest_ee_minus_button": [
+              -0.0015043326241453159,
+              0.0004541411948973395,
+              0.03494959000971931
+            ],
+            "button_min_z_position": [
+              0.17468117177486422,
+              -0.41364967823028564,
+              0.7683805823326111
+            ],
+            "min_active_finger_to_button": 0.1470524643220765,
+            "closest_active_finger": [
+              0.04554875195026398,
+              -0.4748406410217285,
+              0.8105571866035461
+            ],
+            "closest_active_finger_button": [
+              0.17474575340747836,
+              -0.4136650264263153,
+              0.7760592699050903
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12919700145721438,
+              -0.06117561459541321,
+              0.03449791669845581
+            ],
+            "min_contact_pad_to_button": 0.020984606481263473,
+            "closest_contact_pad": [
+              0.17468117177486422,
+              -0.4144997838135322,
+              0.7893479624663049
+            ],
+            "closest_contact_pad_button": [
+              0.17468117177486422,
+              -0.41364967823028564,
+              0.7683805823326111
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008501055832465521,
+              0.020967380133693814
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "74731edb32cc9db16a476601f0569662b8a8f05fe9a3774c56afd1c521db6eb6",
+    "visual_seed": 4744214727941261421,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..50971f4d9ad28ef559cabe30d4eb37fa06034daf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_44_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 44,
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019545145629,
+            "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": 0.0751397684486419,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543460483260072,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15476552934414442,
+            "release_required_pad_clearance": 0.05271730241630036,
+            "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": 0.48778651391627287,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008163034915924072,
+            "max_z_decrease": 0.008163034915924072,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499447352873615,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008163034915924072,
+            "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": 0.02100813818600435,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008163034915924072,
+            "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": 0.008163566290863386,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18224954605102536,
+              -0.40865576267242426,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18224954605102536,
+              -0.40865576267242426,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18090537769781878,
+              -0.40894105196704117,
+              0.8036168111119235
+            ],
+            "closest_button": [
+              0.1821566671133041,
+              -0.40866276621818537,
+              0.7686458230018616
+            ],
+            "closest_ee_minus_button": [
+              -0.0012512894154853293,
+              -0.00027828574885579993,
+              0.03497098811006194
+            ],
+            "button_min_z_position": [
+              0.1821566671133041,
+              -0.40866276621818537,
+              0.7686458230018616
+            ],
+            "min_active_finger_to_button": 0.14712973328258844,
+            "closest_active_finger": [
+              0.039914362132549286,
+              -0.3945898711681366,
+              0.8098856210708618
+            ],
+            "closest_active_finger_button": [
+              0.18225149810314178,
+              -0.4086655676364898,
+              0.77540123462677
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1423371359705925,
+              0.014075696468353216,
+              0.0344843864440918
+            ],
+            "min_contact_pad_to_button": 0.02100813818600435,
+            "closest_contact_pad": [
+              0.1821566671133041,
+              -0.409958617111892,
+              0.7896139569317928
+            ],
+            "closest_contact_pad_button": [
+              0.1821566671133041,
+              -0.40866276621818537,
+              0.7686458230018616
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012958508937066515,
+              0.020968133929931243
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e869ef03e34f02b020578d7c7411a58293097060128a89b233a1736ebbf5bd77",
+    "visual_seed": 4408825577516458985,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec9f6b06203e028dc8435b3b5bc3b018aef7fd5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_45_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3716443202548305,
+              0.27144653941532115,
+              1.005761066582854
+            ],
+            "current_z": 1.005761066582854,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.14465437975415363,
+            "gripper_z": 1.0032411771339285,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3665013097078448,
+              0.26655360747494233,
+              1.0032411771339285
+            ],
+            "object_minus_gripper": [
+              0.005143010546985738,
+              0.00489293194037882,
+              0.0025198894489255608
+            ],
+            "object_to_gripper_xy": 0.007098685826234725,
+            "object_to_gripper_z": 0.0025198894489255608,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3716443202548305,
+              0.24692666506614483,
+              1.005761066582854
+            ],
+            "finger_b": [
+              0.3597700092994454,
+              0.27144653941532115,
+              1.005761066582854
+            ],
+            "finger_midpoint": [
+              0.36570716477713794,
+              0.259186602240733,
+              1.005761066582854
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059371554776925795,
+              0.012259937174588176,
+              0.0
+            ],
+            "finger_gap": 0.027243779083757337,
+            "fingertip_max_gap": 0.09184122613152992,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013621889541878693,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.005761066582854,
+            "object_top_z": 1.055757729672936,
+            "finger_top_clearance": 0.04999666309008188,
+            "fingertip_min_top_clearance": 0.014998998927024547,
+            "object_projection_between_fingers": 0.8100312629553348,
+            "object_to_finger_line_xy": 0.0106870860945528,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048420613065764964,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2096130784451422,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018089606269766634,
+              0.020919413451026325
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "269b039a3ecd65c91a104d27fa3342f9f490f5bfd7742d15d379b04381f59f96",
+    "visual_seed": 8749964044216637837,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac63e38ea1e1a45801abbb1435c31a5d9111846
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_46_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.37056264270481754,
+              0.2696350825201698,
+              1.0053320737022537
+            ],
+            "current_z": 1.0053320737022537,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.14422562529213234,
+            "gripper_z": 1.0028666079958701,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36553951506976673,
+              0.26478480020089246,
+              1.0028666079958701
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+              0.005023127635050806,
+              0.004850282319277366,
+              0.0024654657063836183
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+            "object_to_gripper_xy": 0.006982624851351082,
+            "object_to_gripper_z": 0.0024654657063836183,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.37056264270481754,
+              0.24528391142468509,
+              1.0053320737022537
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+            "finger_b": [
+              0.35866522216026586,
+              0.2696350825201698,
+              1.0053320737022537
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+              0.3646139324325417,
+              0.2574594969724274,
+              1.0053320737022537
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+              0.005948710272275837,
+              0.012175585547742396,
+              0.0
+            ],
+            "finger_gap": 0.027102179789372873,
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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": 0.8072931367681748,
+            "object_to_finger_line_xy": 0.01068977202302064,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818327400250187,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31970081348080237,
+              0.36580494607131636,
+              0.756586388199276
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+            "gripper_position": [
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+              0.33156416428225166,
+              1.0331363514981498
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004924912329384301,
+              0.0023592220002333075
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+            "held_xy_dist": 0.031249258308462764,
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+            "max_held_gripper_dist": 0.0074884895566780995,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "gripper_z": 1.0331363514981498,
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+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23252346921896,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.312951957460602,
+            "max_source_tilt_deg": 89.70605622570832,
+            "source_upright_tilt_deg": 2.50371426078202,
+            "max_source_upright_tilt_deg": 89.83238234192626,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.312951957460602,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.2146848510894035e-08,
+            "max_target_xy_drift": 9.991559156322605e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3197,
+                0.3658,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.3197,
+                0.3658,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "pour_pose_offset_m": [
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6147257089614868
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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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": [
+              {
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.32980485015335304,
+              -0.3560670080076464,
+              0.8470200074616033
+            ],
+            "target_position": [
+              0.3212811418864865,
+              -0.3585850485675536,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008887864247387375,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.189918677644897,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200074616033,
+            "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": 0.07552692047353562,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510641944049523,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15834095941112622,
+            "release_required_pad_clearance": 0.052553209720247615,
+            "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": 0.1724554913100117,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00817716121673584,
+            "max_z_decrease": 0.00817716121673584,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035020095250287514,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00817716121673584,
+            "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": 0.021066949729549627,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00817716121673584,
+            "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": 0.008177369473914026,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17698106169700623,
+              -0.4148465096950531,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17698106169700623,
+              -0.4148465096950531,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1752012434310903,
+              -0.4142257154780949,
+              0.8043611985602619
+            ],
+            "closest_button": [
+              0.17692293226718903,
+              -0.4148472845554352,
+              0.7693889737129211
+            ],
+            "closest_ee_minus_button": [
+              -0.001721688836098717,
+              0.0006215690773402893,
+              0.03497222484734075
+            ],
+            "button_min_z_position": [
+              0.17692282795906064,
+              -0.4148503541946411,
+              0.7686316967010498
+            ],
+            "min_active_finger_to_button": 0.14717779311427026,
+            "closest_active_finger": [
+              0.04752401262521744,
+              -0.47575634717941284,
+              0.8111428022384644
+            ],
+            "closest_active_finger_button": [
+              0.17697931826114655,
+              -0.41485369205474854,
+              0.7765958309173584
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1294553056359291,
+              -0.06090265512466431,
+              0.03454697132110596
+            ],
+            "min_contact_pad_to_button": 0.021066949729549627,
+            "closest_contact_pad": [
+              0.17692293226718903,
+              -0.41554748041047257,
+              0.79044428412792
+            ],
+            "closest_contact_pad_button": [
+              0.17692293226718903,
+              -0.4148472845554352,
+              0.7693889737129211
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007001958550373888,
+              0.021055310414998862
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c383fb1aedf4a7c990c92a6d0192607bff1dab3df422f2c2f46de9dffb179cfa",
+    "visual_seed": 186737454721450990,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5626d3c3c65a49042f7986c8838f1ec1e2fc11ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_47_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3680039755276917,
+              0.2676691798217372,
+              1.0061099721444342
+            ],
+            "current_z": 1.0061099721444342,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14500346412966836,
+            "gripper_z": 1.0041706753205333,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36296124019424786,
+              0.2628737288963674,
+              1.0041706753205333
+            ],
+            "object_minus_gripper": [
+              0.0050427353334438485,
+              0.004795450925369815,
+              0.0019392968239009267
+            ],
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008471310138702393,
+            "max_z_decrease": 0.008471310138702393,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499412886569276,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008471310138702393,
+            "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": 0.020977993261709054,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008471310138702393,
+            "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": 0.008471853521147092,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17889323830604548,
+              -0.41111806035041804,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17889323830604548,
+              -0.41111806035041804,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17853541547624696,
+              -0.4108835648994257,
+              0.8036436891058079
+            ],
+            "closest_button": [
+              0.1788109391927719,
+              -0.41111734509468073,
+              0.7686514258384705
+            ],
+            "closest_ee_minus_button": [
+              -0.0002755237165249502,
+              0.00023378019525505112,
+              0.0349922632673374
+            ],
+            "button_min_z_position": [
+              0.17879962921142575,
+              -0.41109699010849,
+              0.7683375477790833
+            ],
+            "min_active_finger_to_button": 0.1460773497887512,
+            "closest_active_finger": [
+              0.052256613969802856,
+              -0.4753163158893585,
+              0.8103893399238586
+            ],
+            "closest_active_finger_button": [
+              0.1788983196020126,
+              -0.411125510931015,
+              0.7760380506515503
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12664170563220975,
+              -0.0641908049583435,
+              0.03435128927230835
+            ],
+            "min_contact_pad_to_button": 0.020977993261709054,
+            "closest_contact_pad": [
+              0.17879962921142575,
+              -0.411823897648857,
+              0.7893029432372202
+            ],
+            "closest_contact_pad_button": [
+              0.17879962921142575,
+              -0.41109699010849,
+              0.7683375477790833
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007269075403670278,
+              0.020965395458136915
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "49c06fbca657944bb11598f0d312f3322b371c431f7315c10a229741cec02ed5",
+    "visual_seed": 1378955126945450431,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62ec8734f25b343176340fd041ad5d6cd0e81576
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_48_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3631723207762265,
+              0.27099042096141746,
+              1.0045851690536634
+            ],
+            "current_z": 1.0045851690536634,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14347848222496307,
+            "gripper_z": 1.0025258602133966,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35798232142705066,
+              0.266192107935473,
+              1.0025258602133966
+            ],
+            "object_minus_gripper": [
+              0.005189999349175856,
+              0.004798313025944467,
+              0.002059308840266727
+            ],
+            "object_to_gripper_xy": 0.0070682318255271,
+            "object_to_gripper_z": 0.002059308840266727,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3631723207762265,
+              0.24624328126059936,
+              1.0045851690536634
+            ],
+            "finger_b": [
+              0.3516925448477504,
+              0.27099042096141746,
+              1.0045851690536634
+            ],
+            "finger_midpoint": [
+              0.35743243281198844,
+              0.2586168511110084,
+              1.0045851690536634
+            ],
+            "object_minus_finger_midpoint": [
+              0.005739887964238077,
+              0.01237356985040905,
+              0.0
+            ],
+            "finger_gap": 0.02728014257183834,
+            "fingertip_max_gap": 0.09175898234881799,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013640071285919183,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0045851690536634,
+            "object_top_z": 1.0544905083430796,
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+            "fingertip_min_top_clearance": 0.014971601786824877,
+            "object_projection_between_fingers": 0.8229183536326279,
+            "object_to_finger_line_xy": 0.010413861213810445,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048379491174409,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3278895157651815,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31901425737995714,
+              0.3684464451138275,
+              0.7565863285946313
+            ],
+            "gripper_position": [
+              0.32514542066272156,
+              0.3359260194030035,
+              1.0332185852486304
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+            "target_minus_gripper": [
+              -0.006131163282764418,
+              0.03252042571082403,
+              -0.27663225665399915
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+            "held_position": [
+              0.33033320223173746,
+              0.34077532114188286,
+              1.0351762559084576
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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": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3da1e2e832db02e12f9cb2ba390787a5f8af5cdcaa9d4611a20be4682d356a77",
+    "visual_seed": 631337691156232058,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65336f81c5570e78d6177d56ab86fde1baee5281
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_49_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.366662062901303,
+              0.26585579574245993,
+              1.0068475652085538
+            ],
+            "current_z": 1.0068475652085538,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.14574081877520895,
+            "gripper_z": 1.004528161110102,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3615289134304011,
+              0.26098337466941,
+              1.004528161110102
+            ],
+            "object_minus_gripper": [
+              0.0051331494709018766,
+              0.004872421073049915,
+              0.0023194040984517716
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+            "object_to_gripper_xy": 0.007077408466643783,
+            "object_to_gripper_z": 0.0023194040984517716,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.366662062901303,
+              0.24131341827430694,
+              1.0068475652085538
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+            "finger_b": [
+              0.35486738735335416,
+              0.26585579574245993,
+              1.0068475652085538
+            ],
+            "finger_midpoint": [
+              0.3607647251273286,
+              0.2535846070083834,
+              1.0068475652085538
+            ],
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+              0.005897337773974387,
+              0.01227118873407651,
+              0.0
+            ],
+            "finger_gap": 0.027229444780800905,
+            "fingertip_max_gap": 0.09157430450021212,
+            "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": 1.0068475652085538,
+            "object_top_z": 1.0567503470867612,
+            "finger_top_clearance": 0.0499027818782074,
+            "fingertip_min_top_clearance": 0.014970834563462187,
+            "object_projection_between_fingers": 0.8123733928322392,
+            "object_to_finger_line_xy": 0.01063074850561238,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828715225010606,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3125513812124152,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3201297583069286,
+              0.3607073780361907,
+              0.7565864478039208
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+            "gripper_position": [
+              0.3278066678374116,
+              0.3261949069809642,
+              1.0316478922368602
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+            "target_minus_gripper": [
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+              0.03451247105522648,
+              -0.27506144443293934
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+            "held_position": [
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+              1.033861920575812
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+            "held_minus_target": [
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+              -0.029657140638663537,
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+            "held_minus_gripper": [
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+              0.004855330416562942,
+              0.00221402833895179
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+            "xy_dist": 0.03535598391046509,
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+            "max_held_gripper_dist": 0.007520712294043805,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
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+            "gripper_z": 1.0316478922368602,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21630176994019,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.377047961060924,
+            "max_source_tilt_deg": 89.8717014738024,
+            "source_upright_tilt_deg": 2.2159587070568825,
+            "max_source_upright_tilt_deg": 89.77991068160473,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.377047961060924,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.812804499357408e-07,
+            "max_target_xy_drift": 2.4575624621328225e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3201,
+                0.3607,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.3607,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0003
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+              "controller_last_pour_pose_position": [
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+              ],
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
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+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.2159467945241547,
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+              "wrist_compensated_return_position": -1.6142405271530151
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            ],
+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0003
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.3346,
+              1.0215
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
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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",
+                "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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.33365988650722866,
+              -0.34994479566632,
+              0.8470197200273073
+            ],
+            "target_position": [
+              0.324728578280851,
+              -0.35218307282259015,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009207505159533839,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18596799165552974,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197200273073,
+            "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": 0.07535390639623414,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516950741458733,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15479105418185507,
+            "release_required_pad_clearance": 0.052584753707293666,
+            "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": 0.23406784086369042,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008460760116577148,
+            "max_z_decrease": 0.008460760116577148,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498714782848418,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008460760116577148,
+            "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": 0.021051284078158938,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008460760116577148,
+            "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": 0.008461506821056466,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18042850494384766,
+              -0.4084445238113403,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18042850494384766,
+              -0.4084445238113403,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17959192311481093,
+              -0.40860643014937403,
+              0.8046921197839318
+            ],
+            "closest_button": [
+              0.18033869564533234,
+              -0.4084521830081939,
+              0.769713282585144
+            ],
+            "closest_ee_minus_button": [
+              -0.0007467725305214112,
+              -0.0001542471411801194,
+              0.034978837198787804
+            ],
+            "button_min_z_position": [
+              0.18031688034534454,
+              -0.40843126177787775,
+              0.7683480978012085
+            ],
+            "min_active_finger_to_button": 0.14678202749485403,
+            "closest_active_finger": [
+              0.05271470546722412,
+              -0.4720410108566284,
+              0.809994101524353
+            ],
+            "closest_active_finger_button": [
+              0.18043278157711032,
+              -0.40845212340354914,
+              0.7755048274993896
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277180761098862,
+              -0.06358888745307928,
+              0.03448927402496338
+            ],
+            "min_contact_pad_to_button": 0.021051284078158938,
+            "closest_contact_pad": [
+              0.18032042682170868,
+              -0.40966739046771705,
+              0.7897379106237479
+            ],
+            "closest_contact_pad_button": [
+              0.18032042682170868,
+              -0.40842518210411066,
+              0.7687233090400696
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012422083636063896,
+              0.021014601583678294
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9dcf669963d3f20ed77d47ba283dc163c4860adca8444ef318026c7c54bd98b3",
+    "visual_seed": 1169924832522550056,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac6c919211b78b524002465c92364b77efc6917b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_4_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3694436085828889,
+              0.2724791050326922,
+              1.0078793076633028
+            ],
+            "current_z": 1.0078793076633028,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.1467728592531814,
+            "gripper_z": 1.0055240289286782,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36426848554293917,
+              0.26765055357259404,
+              1.0055240289286782
+            ],
+            "object_minus_gripper": [
+              0.005175123039949714,
+              0.0048285514600981405,
+              0.0023552787346245996
+            ],
+            "object_to_gripper_xy": 0.007077909838464619,
+            "object_to_gripper_z": 0.0023552787346245996,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3694436085828889,
+              0.24774599239049883,
+              1.0078793076633028
+            ],
+            "finger_b": [
+              0.35789631921116316,
+              0.2724791050326922,
+              1.0078793076633028
+            ],
+            "finger_midpoint": [
+              0.363669963897026,
+              0.2601125487115955,
+              1.0078793076633028
+            ],
+            "object_minus_finger_midpoint": [
+              0.005773644685862889,
+              0.012366556321096678,
+              0.0
+            ],
+            "finger_gap": 0.027295910917311306,
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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"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008106827735900879,
+            "max_z_decrease": 0.008106827735900879,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502054582061568,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008106827735900879,
+            "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": 0.021159564227382993,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008106827735900879,
+            "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": 0.008107191688346789,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17739446461200709,
+              -0.4080675840377807,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17739446461200709,
+              -0.4080675840377807,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1779667507906375,
+              -0.40899747148972626,
+              0.8037043474677501
+            ],
+            "closest_button": [
+              0.17731781303882596,
+              -0.4080726504325866,
+              0.7687020301818848
+            ],
+            "closest_ee_minus_button": [
+              0.0006489377518115458,
+              -0.0009248210571396465,
+              0.035002317285865336
+            ],
+            "button_min_z_position": [
+              0.17731781303882596,
+              -0.4080726504325866,
+              0.7687020301818848
+            ],
+            "min_active_finger_to_button": 0.14525075886468417,
+            "closest_active_finger": [
+              0.0371718630194664,
+              -0.3927226662635803,
+              0.8088523149490356
+            ],
+            "closest_active_finger_button": [
+              0.17740668356418604,
+              -0.40807825326919556,
+              0.7742664217948914
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14023482054471964,
+              0.015355587005615234,
+              0.03458589315414429
+            ],
+            "min_contact_pad_to_button": 0.021159564227382993,
+            "closest_contact_pad": [
+              0.17731781303882596,
+              -0.4101924300595223,
+              0.7897551461656525
+            ],
+            "closest_contact_pad_button": [
+              0.17731781303882596,
+              -0.4080726504325866,
+              0.7687020301818848
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021197796269356584,
+              0.02105311598376769
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9dfeb0aa18a9cc407ba3ac39b0103a5df6f5aab15cb2450761e14f89c9b51686",
+    "visual_seed": 2711315004991364837,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c349cdcf24632759e6ca323b8bd5f768f11a10a0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_50_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3713999778663636,
+              0.2653182838865889,
+              1.0066300312865666
+            ],
+            "current_z": 1.0066300312865666,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1455235828764454,
+            "gripper_z": 1.0045340155918143,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36632103698563523,
+              0.2606174570044203,
+              1.0045340155918143
+            ],
+            "object_minus_gripper": [
+              0.005078940880728355,
+              0.004700826882168607,
+              0.0020960156947522623
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+            "object_to_gripper_xy": 0.006920506762228671,
+            "object_to_gripper_z": 0.0020960156947522623,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3713999778663636,
+              0.240591882743864,
+              1.0066300312865666
+            ],
+            "finger_b": [
+              0.36014750132699425,
+              0.2653182838865889,
+              1.0066300312865666
+            ],
+            "finger_midpoint": [
+              0.3657737395966789,
+              0.2529550833152264,
+              1.0066300312865666
+            ],
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+              0.005626238269684669,
+              0.012363200571362476,
+              0.0
+            ],
+            "finger_gap": 0.027166397290402797,
+            "fingertip_max_gap": 0.09185737531267615,
+            "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": 1.0066300312865666,
+            "object_top_z": 1.0567263422299882,
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+            "object_projection_between_fingers": 0.8284336401238992,
+            "object_to_finger_line_xy": 0.01024181623302105,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842868765633808,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.244343668766558,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 183,
+            "max_stable_success_frames": 183,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31384394187588305,
+              0.36246875489394825,
+              0.7565863285946314
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+            "gripper_position": [
+              0.32043888011266153,
+              0.3282186605338487,
+              1.0309459716734475
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+            "held_position": [
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+            "held_minus_target": [
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+              -0.0294720841216376,
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+            "held_minus_gripper": [
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+              0.004778010238461972,
+              0.0019909233724666464
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+            "xy_dist": 0.03487925133976713,
+            "held_xy_dist": 0.03169092994939688,
+            "held_gripper_dist": 0.007234773449025359,
+            "max_held_gripper_dist": 0.007290141579499985,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946314,
+            "held_z": 1.0329368950459141,
+            "required_height": 0.7865863285946314,
+            "gripper_z": 1.0309459716734475,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23088422381817,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
+              0.0,
+              0.0,
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82c35d234aa511a8cae8b75f97b8766abc27ce479b16555d1a2c82dbf0d3088b",
+    "visual_seed": 9214437676930709344,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf896e594a26a0bd5d95886948cf64500fcd6ba1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_51_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              0.26839702062799564,
+              1.0069131936971003
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+            "gripper_position": [
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+              0.26354048735748514,
+              1.0045844936447526
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+              0.004856533270510499,
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+              0.2438954530852979,
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+              1.0069131936971003
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+              0.2561462368566468,
+              1.0069131936971003
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+              1.0
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+            "stable_success_frames": 183,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.33691218622069585,
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+            "valid_pour_pose_frames": 0,
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+                0.0,
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+            "pour_controller_wrist_compensated_return_position": -1.6121068000793457,
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
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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,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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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+              0.3333409911876925,
+              -0.3558015384435645,
+              0.8470190868073493
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+              0.3252730816377752,
+              -0.3578717705090158,
+              0.8084375599031817
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+            "gripper_dist": 0.18663857003717704,
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+            "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,
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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": 1.1398514470637013,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008275508880615234,
+            "max_z_decrease": 0.008275508880615234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504366533611727,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008275508880615234,
+            "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": 0.021028506064179373,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008275508880615234,
+            "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": 0.00827581169616632,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18097300827503202,
+              -0.414133220911026,
+              0.7768088579177856
+            ],
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+              0.18097300827503202,
+              -0.414133220911026,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17913265070380952,
+              -0.4131088599089339,
+              0.805729103075005
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+            "closest_button": [
+              0.18091236054897306,
+              -0.4141407310962677,
+              0.7707458734512329
+            ],
+            "closest_ee_minus_button": [
+              -0.0017797098451635407,
+              0.0010318711873337771,
+              0.034983229623772094
+            ],
+            "button_min_z_position": [
+              0.18090379238128657,
+              -0.41414809226989746,
+              0.7685333490371704
+            ],
+            "min_active_finger_to_button": 0.1472163005862154,
+            "closest_active_finger": [
+              0.05189462751150131,
+              -0.4759381413459778,
+              0.8110783100128174
+            ],
+            "closest_active_finger_button": [
+              0.18097800016403195,
+              -0.41414085030555725,
+              0.7765643000602722
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12908337265253064,
+              -0.06179729104042053,
+              0.034514009952545166
+            ],
+            "min_contact_pad_to_button": 0.021028506064179373,
+            "closest_contact_pad": [
+              0.18090379238128657,
+              -0.41431823892228864,
+              0.7895611667415331
+            ],
+            "closest_contact_pad_button": [
+              0.18090379238128657,
+              -0.41414809226989746,
+              0.7685333490371704
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00017014665239117877,
+              0.021027817704362683
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c78acd6e2f931d4e4060e4a230a3a7d89d9b8aeabdf7a54ff75b1eb4dec225f",
+    "visual_seed": 1531407401644582090,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bba6d4ea98069b8c715a82256d1fcadac58d5816
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_52_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              0.26459061503727793,
+              1.0052194748473817
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+            "current_z": 1.0052194748473817,
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+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.1441130860419052,
+            "gripper_z": 1.0031502489356239,
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+            "gripper_position": [
+              0.3668761884116388,
+              0.25980643497184724,
+              1.0031502489356239
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+              0.004784180065430688,
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+            "object_to_gripper_z": 0.0020692259117578438,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3717512497449672,
+              0.24035039257632834,
+              1.0052194748473817
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+            "finger_b": [
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+              0.26459061503727793,
+              1.0052194748473817
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+            "finger_midpoint": [
+              0.3658467858503057,
+              0.25247050380680314,
+              1.0052194748473817
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+              0.0059044638946614825,
+              0.012120111230474795,
+              0.0
+            ],
+            "finger_gap": 0.026963663706732605,
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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": 1.0551993363491459,
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+            "object_projection_between_fingers": 0.8081935841812107,
+            "object_to_finger_line_xy": 0.010616177376778523,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837134695333316,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5046138841711676,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
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+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
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+                "fr3_leftfinger",
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+                "panda_rightfinger",
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+                "ridgebase_rizon4",
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+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
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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"
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+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008358180522918701,
+            "max_z_decrease": 0.008358180522918701,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035009165417987244,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008358180522918701,
+            "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": 0.02113418981652542,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008358180522918701,
+            "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": 0.00835865998195193,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17489366233348846,
+              -0.4109105169773102,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17489366233348846,
+              -0.4109105169773102,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17318612938043024,
+              -0.41138620024441985,
+              0.8041597160659244
+            ],
+            "closest_button": [
+              0.17479734122753143,
+              -0.4108999669551849,
+              0.7691910266876221
+            ],
+            "closest_ee_minus_button": [
+              -0.001611211847101196,
+              -0.0004862332892349719,
+              0.03496868937830233
+            ],
+            "button_min_z_position": [
+              0.1748049408197403,
+              -0.4108985364437103,
+              0.7684506773948669
+            ],
+            "min_active_finger_to_button": 0.14756647834872622,
+            "closest_active_finger": [
+              0.03261008858680725,
+              -0.39293867349624634,
+              0.8074402809143066
+            ],
+            "closest_active_finger_button": [
+              0.17491047084331512,
+              -0.4109285473823547,
+              0.772758424282074
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14230038225650787,
+              0.017989873886108343,
+              0.034681856632232666
+            ],
+            "min_contact_pad_to_button": 0.02113418981652542,
+            "closest_contact_pad": [
+              0.1748049408197403,
+              -0.41272772036037264,
+              0.7895055596172863
+            ],
+            "closest_contact_pad_button": [
+              0.1748049408197403,
+              -0.4108985364437103,
+              0.7684506773948669
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018291839166623136,
+              0.021054882222419358
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e80b8ae3c66f1b410027880ffd01a9fe18c52fb7e31ebd10137b2eed2ea297fa",
+    "visual_seed": 4593722654942518838,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d43e84f03b323e787f4e721d894a0d0ae52a3ca1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_53_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3674513842645326,
+              0.26975456955942356,
+              1.004423895605191
+            ],
+            "current_z": 1.004423895605191,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1433172087764908,
+            "gripper_z": 1.0024362476320352,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.362327544377424,
+              0.2648450970059505,
+              1.0024362476320352
+            ],
+            "object_minus_gripper": [
+              0.005123839887108628,
+              0.004909472553473071,
+              0.0019876479731557595
+            ],
+            "object_to_gripper_xy": 0.007096242381854692,
+            "object_to_gripper_z": 0.0019876479731557595,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3674513842645326,
+              0.2453467030006515,
+              1.004423895605191
+            ],
+            "finger_b": [
+              0.35544965356249947,
+              0.26975456955942356,
+              1.004423895605191
+            ],
+            "finger_midpoint": [
+              0.36145051891351604,
+              0.25755063628003755,
+              1.004423895605191
+            ],
+            "object_minus_finger_midpoint": [
+              0.006000865351016571,
+              0.012203933279386014,
+              0.0
+            ],
+            "finger_gap": 0.027198997955714257,
+            "fingertip_max_gap": 0.0915829789090847,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013599498977857115,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.004423895605191,
+            "object_top_z": 1.0544539724898383,
+            "finger_top_clearance": 0.050030076884647334,
+            "fingertip_min_top_clearance": 0.015009023065394183,
+            "object_projection_between_fingers": 0.8052928290279795,
+            "object_to_finger_line_xy": 0.010770126235036507,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048291489454542355,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2443965457568194,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3137100698437175,
+              0.36525580847900074,
+              0.756586388199276
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+            "gripper_position": [
+              0.3218786793555185,
+              0.33109484657533694,
+              1.0324447980034068
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+              0.0341609619036638,
+              -0.2758584098041308
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+            "held_position": [
+              0.3269841326047997,
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+              1.034326359430092
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+            "held_minus_target": [
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+              -0.02918519882840709,
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+            "held_minus_gripper": [
+              0.005105453249281189,
+              0.004975763075256712,
+              0.0018815614266851632
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+            "xy_dist": 0.035124030229172945,
+            "held_xy_dist": 0.03206207374514011,
+            "held_gripper_dist": 0.0073732044908624015,
+            "max_held_gripper_dist": 0.007427345315728491,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
+            "held_z": 1.034326359430092,
+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0324447980034068,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23492086561764,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.8160870747512704,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.3241382969218995,
+            "max_source_tilt_deg": 89.97209080962132,
+            "source_upright_tilt_deg": 2.369751654837284,
+            "max_source_upright_tilt_deg": 89.57724287351436,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.3241382969218995,
+            "source_upright_return_tilt_deg": 2.369751654837284,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.9802322387695312e-08,
+            "max_target_xy_drift": 8.429369702335816e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
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+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "01c1b9cd3d7e3ded6fffdc9727979b8aee047aa63293e3433974b15cb31b2991",
+    "visual_seed": 8313810332983825775,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..735b0729470cf368968d2dfc66c5669b60255303
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_54_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
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+              0.2650480150887151,
+              1.0042308764282848
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+              0.2601607208980109,
+              1.0023565116780053
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+              0.004887294190704217,
+              0.001874364750279467
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+            "object_to_gripper_z": 0.001874364750279467,
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+              0.367478351590829,
+              0.2408281197711317,
+              1.0042308764282848
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+              0.2650480150887151,
+              1.0042308764282848
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+              0.2529380674299234,
+              1.0042308764282848
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+              0.012109947658791698,
+              0.0
+            ],
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
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+          }
+        },
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+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "target_position": [
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+              0.3625070508782164,
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+              0.33082475085832486,
+              1.0329575410015754
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "max_source_upright_tilt_deg": 89.56980106926976,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_start_max_tilt_deg": 15.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
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+              "controller_target_position": [
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+              "wrist_joint_name": "wrist_3_joint",
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+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
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+              "tilt_axis_frame": "end_effector",
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+              "approach_height_range_m": [
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_grasp_geometry_required": true,
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+            },
+            "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": 4,
+      "skill": "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": [
+              0.33476815512140956,
+              -0.3567535604053172,
+              0.8470196272665812
+            ],
+            "target_position": [
+              0.3260497714462046,
+              -0.35880813954405677,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008957204326430424,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1893936723824397,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196272665812,
+            "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": 0.07590137513819802,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08642040673289729,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.156886646890115,
+            "release_required_pad_clearance": 0.05321020336644865,
+            "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": 1.442357880907518,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008292198181152344,
+            "max_z_decrease": 0.008292198181152344,
+            "final_z_decrease": -5.960464477539063e-08,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035036880972860916,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008292198181152344,
+            "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": 0.021180822798473192,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008292198181152344,
+            "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": 5.960464477539063e-08,
+            "button_max_displacement": 0.00829280797173573,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1817497014999389,
+              -0.41506960988044733,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1817497014999389,
+              -0.41506960988044733,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.17980131124524917,
+              -0.41417800651153025,
+              0.805992647804038
+            ],
+            "closest_button": [
+              0.18170186877250666,
+              -0.41506132483482355,
+              0.7710185050964355
+            ],
+            "closest_ee_minus_button": [
+              -0.0019005575272574848,
+              0.0008833183232933028,
+              0.03497414270760246
+            ],
+            "button_min_z_position": [
+              0.1816540509462356,
+              -0.4150385558605194,
+              0.7685166597366333
+            ],
+            "min_active_finger_to_button": 0.1475049008248616,
+            "closest_active_finger": [
+              0.05179815739393234,
+              -0.4755713939666748,
+              0.8076989054679871
+            ],
+            "closest_active_finger_button": [
+              0.18176776170730585,
+              -0.4150779843330383,
+              0.7729693055152893
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1299696043133735,
+              -0.06049340963363653,
+              0.034729599952697754
+            ],
+            "min_contact_pad_to_button": 0.021180822798473192,
+            "closest_contact_pad": [
+              0.1816540509462356,
+              -0.4154103074666559,
+              0.789694219916306
+            ],
+            "closest_contact_pad_button": [
+              0.1816540509462356,
+              -0.4150385558605194,
+              0.7685166597366333
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003717516061365056,
+              0.02117756017967265
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66dfae252e6357e94128221cd6d67e5bfcccf18482d6971f5d96c219eab04fe0",
+    "visual_seed": 2986488353610949342,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67c2258021472aac1525c6e5c9a2a793b4abc8f8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_55_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3692213226364082,
+              0.2719568029571169,
+              1.0051043859416777
+            ],
+            "current_z": 1.0051043859416777,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.14399799713620132,
+            "gripper_z": 1.0028681294357176,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3643075546782385,
+              0.2671225490854446,
+              1.0028681294357176
+            ],
+            "object_minus_gripper": [
+              0.0049137679581697236,
+              0.0048342538716723005,
+              0.0022362565059601547
+            ],
+            "object_to_gripper_xy": 0.0068931216471577,
+            "object_to_gripper_z": 0.0022362565059601547,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3692213226364082,
+              0.24771464668007098,
+              1.0051043859416777
+            ],
+            "finger_b": [
+              0.3572912491693664,
+              0.2719568029571169,
+              1.0051043859416777
+            ],
+            "finger_midpoint": [
+              0.3632562859028873,
+              0.25983572481859396,
+              1.0051043859416777
+            ],
+            "object_minus_finger_midpoint": [
+              0.005965036733520945,
+              0.012121078138522923,
+              0.0
+            ],
+            "finger_gap": 0.027018674909953147,
+            "fingertip_max_gap": 0.09170697298989336,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01350933745497656,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0051043859416777,
+            "object_top_z": 1.055046507406944,
+            "finger_top_clearance": 0.04994212146526622,
+            "fingertip_min_top_clearance": 0.014982636439579866,
+            "object_projection_between_fingers": 0.8050343309281912,
+            "object_to_finger_line_xy": 0.010704103970625458,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835348649494668,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2342230648307075,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+            "button_final": [
+              0.183848112821579,
+              -0.4108027517795562,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18224634760451774,
+              -0.41028334870155414,
+              0.8041739195026338
+            ],
+            "closest_button": [
+              0.1837547272443772,
+              -0.41081693768501276,
+              0.7692279815673828
+            ],
+            "closest_ee_minus_button": [
+              -0.0015083796398594473,
+              0.0005335889834586216,
+              0.034945937935251026
+            ],
+            "button_min_z_position": [
+              0.18376421928405764,
+              -0.4108028411865234,
+              0.7684981822967529
+            ],
+            "min_active_finger_to_button": 0.1471282796465816,
+            "closest_active_finger": [
+              0.05525274574756622,
+              -0.47332942485809326,
+              0.809317946434021
+            ],
+            "closest_active_finger_button": [
+              0.1838577836751938,
+              -0.41081339120864857,
+              0.774688184261322
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12860503792762756,
+              -0.06251603364944469,
+              0.034629762172698975
+            ],
+            "min_contact_pad_to_button": 0.021070351451103426,
+            "closest_contact_pad": [
+              0.18376421928405764,
+              -0.4114333426461698,
+              0.7895590981881001
+            ],
+            "closest_contact_pad_button": [
+              0.18376421928405764,
+              -0.4108028411865234,
+              0.7684981822967529
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006305014596464376,
+              0.021060915891347176
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2999d8823fb44f468241cffca52fb62e7beb8aa7e36c9d88fb2b8df74155e043",
+    "visual_seed": 3154244935400423052,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..51bae355fb2f81b139d1044fb625f0863e845bc4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_56_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36642219658942676,
+              0.2748727379085827,
+              1.0063669348940962
+            ],
+            "current_z": 1.0063669348940962,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1452603672746856,
+            "gripper_z": 1.0044277417520153,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3613514207950425,
+              0.27001126024446376,
+              1.0044277417520153
+            ],
+            "object_minus_gripper": [
+              0.005070775794384252,
+              0.0048614776641189295,
+              0.0019391931420809083
+            ],
+            "object_to_gripper_xy": 0.007024722929457111,
+            "object_to_gripper_z": 0.0019391931420809083,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36642219658942676,
+              0.2504642178855867,
+              1.0063669348940962
+            ],
+            "finger_b": [
+              0.3545382799321446,
+              0.2748727379085827,
+              1.0063669348940962
+            ],
+            "finger_midpoint": [
+              0.3604802382607857,
+              0.2626684778970847,
+              1.0063669348940962
+            ],
+            "object_minus_finger_midpoint": [
+              0.005941958328641084,
+              0.012204260011497992,
+              0.0
+            ],
+            "finger_gap": 0.027147805156775093,
+            "fingertip_max_gap": 0.09175023819950531,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013573902578387547,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0063669348940962,
+            "object_top_z": 1.056442025861388,
+            "finger_top_clearance": 0.05007509096729179,
+            "fingertip_min_top_clearance": 0.015022527290187554,
+            "object_projection_between_fingers": 0.808376067842351,
+            "object_to_finger_line_xy": 0.010684798126617498,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837511909975266,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.332226900588464,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31468818206448157,
+              0.36216629112403553,
+              0.756586388199276
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+            "gripper_position": [
+              0.32323194244775744,
+              0.32873857707597015,
+              1.0325925856327884
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+            "target_minus_gripper": [
+              -0.008543760383275867,
+              0.03342771404806538,
+              -0.2760061974335124
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+            "held_position": [
+              0.32828583005761225,
+              0.3336638309626673,
+              1.034425442613827
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+            "held_minus_target": [
+              0.01359764799313068,
+              -0.02850246016136826,
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+            "held_minus_gripper": [
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+              0.004925253886697123,
+              0.001832856981038633
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+            "xy_dist": 0.03450228844534898,
+            "held_xy_dist": 0.031579839553035664,
+            "held_gripper_dist": 0.007291040428801033,
+            "max_held_gripper_dist": 0.007342159905973344,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
+            "held_z": 1.034425442613827,
+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0325925856327884,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23787833752826,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.9061033787641604,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.321996985936696,
+            "max_source_tilt_deg": 89.71656423122418,
+            "source_upright_tilt_deg": 2.3924257745282445,
+            "max_source_upright_tilt_deg": 89.74836973340118,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.321996985936696,
+            "source_upright_return_tilt_deg": 2.3924257745282445,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.429369702178807e-08,
+            "max_target_xy_drift": 5.967910407390242e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3147,
+                0.3622,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.3147,
+                0.3622,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0018,
+                -0.0007,
+                0.0007
+              ],
+              "controller_last_pour_pose_position": [
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+                0.3362,
+                1.0225
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0649,
+                0.0603,
+                0.0904
+              ],
+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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+                "fr3_joint4",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint5",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_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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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              }
+            ],
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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"
+                }
+              ],
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+            },
+            "failed_keys": []
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+      }
+    },
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+      "reason": "executed",
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+              0.8084375599031817
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+            "release_fingertip_source": "active_contact_pad_positions",
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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": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "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": 0.008205652236938477,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504286632189059,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008205652236938477,
+            "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": 0.021368514385014217,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008205652236938477,
+            "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": 0.008205957381269778,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17922994494438169,
+              -0.40850967168807983,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17922994494438169,
+              -0.40850967168807983,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1806167524046003,
+              -0.4099191813048591,
+              0.8048767248080921
+            ],
+            "closest_button": [
+              0.17914475500583643,
+              -0.40849354863166804,
+              0.7698938250541687
+            ],
+            "closest_ee_minus_button": [
+              0.001471997398763858,
+              -0.0014256326731910685,
+              0.034982899753923435
+            ],
+            "button_min_z_position": [
+              0.17916002869606015,
+              -0.4084987342357635,
+              0.7686032056808472
+            ],
+            "min_active_finger_to_button": 0.14454041990631683,
+            "closest_active_finger": [
+              0.03992360085248947,
+              -0.3922719955444336,
+              0.8079771995544434
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+            "closest_active_finger_button": [
+              0.17924895882606504,
+              -0.4085194766521454,
+              0.7731003165245056
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13932535797357556,
+              0.016247481107711792,
+              0.034876883029937744
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+            "min_contact_pad_to_button": 0.021368514385014217,
+            "closest_contact_pad": [
+              0.17916002869606015,
+              -0.41127458478307366,
+              0.7897906562297348
+            ],
+            "closest_contact_pad_button": [
+              0.17916002869606015,
+              -0.4084987342357635,
+              0.7686032056808472
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002775850547310166,
+              0.0211874505488876
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88544830ca379376ec321fb9d25c54642ff12c241a43dd0775ff91a1594b362f",
+    "visual_seed": 2157753576502567783,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7bbf5765c0a9746c6541c36448ba6a7c0edc91c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_57_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
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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",
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+                "link0",
+                "table",
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+                  "b": "/World/beaker_2/mesh"
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
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+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3324303535614791,
+              -0.34920037485466743,
+              0.8470197072417674
+            ],
+            "target_position": [
+              0.32311277932241594,
+              -0.3514594661277977,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009587527474838688,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18764079326513225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197072417674,
+            "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": 0.07550050124373339,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560400188716431,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1559425056092396,
+            "release_required_pad_clearance": 0.05280200094358216,
+            "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": 0.6501147994402136,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00816124677658081,
+            "max_z_decrease": 0.00816124677658081,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501726904382065,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00816124677658081,
+            "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": 0.02113889227869419,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00816124677658081,
+            "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": 0.008161854378159038,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17881271243095395,
+              -0.4077209234237671,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17881271243095395,
+              -0.4077209234237671,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1793301319248696,
+              -0.4089238142721027,
+              0.8036389115322639
+            ],
+            "closest_button": [
+              0.17871320247650146,
+              -0.40772488713264465,
+              0.7686476111412048
+            ],
+            "closest_ee_minus_button": [
+              0.0006169294483681365,
+              -0.0011989271394580725,
+              0.03499130039105902
+            ],
+            "button_min_z_position": [
+              0.17871320247650146,
+              -0.40772488713264465,
+              0.7686476111412048
+            ],
+            "min_active_finger_to_button": 0.14526780648924725,
+            "closest_active_finger": [
+              0.03840627521276474,
+              -0.393748939037323,
+              0.8087316751480103
+            ],
+            "closest_active_finger_button": [
+              0.1788192242383957,
+              -0.4077306389808655,
+              0.7742142677307129
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14041294902563095,
+              0.01398169994354248,
+              0.03451740741729736
+            ],
+            "min_contact_pad_to_button": 0.02113889227869419,
+            "closest_contact_pad": [
+              0.17871320247650146,
+              -0.41001881329036016,
+              0.7896616699960093
+            ],
+            "closest_contact_pad_button": [
+              0.17871320247650146,
+              -0.40772488713264465,
+              0.7686476111412048
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002293926157715509,
+              0.02101405885480445
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c147bfba9db97cde1d727130f70fea8d8e2db113e235e073d0d50ba7976ea3e",
+    "visual_seed": 990749716516487279,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a6258a14e34e43d757e985568bc6ca61b9c10af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_58_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3658480770183255,
+              0.2683932062439533,
+              1.0041563214732143
+            ],
+            "current_z": 1.0041563214732143,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14304963464451403,
+            "gripper_z": 1.0022653743396885,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3608203875610793,
+              0.26347422487936184,
+              1.0022653743396885
+            ],
+            "object_minus_gripper": [
+              0.005027689457246187,
+              0.004918981364591457,
+              0.0018909471335257777
+            ],
+            "object_to_gripper_xy": 0.0070337784258321994,
+            "object_to_gripper_z": 0.0018909471335257777,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3658480770183255,
+              0.24413368837223576,
+              1.0041563214732143
+            ],
+            "finger_b": [
+              0.35373349030068424,
+              0.2683932062439533,
+              1.0041563214732143
+            ],
+            "finger_midpoint": [
+              0.3597907836595049,
+              0.2562634473080945,
+              1.0041563214732143
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060572933588206035,
+              0.01212975893585877,
+              0.0
+            ],
+            "finger_gap": 0.027116183704707284,
+            "fingertip_max_gap": 0.09171215190404466,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01355809185235363,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0041563214732143,
+            "object_top_z": 1.0542433196883554,
+            "finger_top_clearance": 0.050086998215141065,
+            "fingertip_min_top_clearance": 0.015026099464542302,
+            "object_projection_between_fingers": 0.8004002141132155,
+            "object_to_finger_line_xy": 0.010838325783066288,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048356075952022334,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3542278289835903,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+              -0.41076213121414185,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17817351222038266,
+              -0.41076213121414185,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17828805155471436,
+              -0.41019040530308226,
+              0.803324382472879
+            ],
+            "closest_button": [
+              0.17809624969959256,
+              -0.4107467532157898,
+              0.7683249711990356
+            ],
+            "closest_ee_minus_button": [
+              0.00019180185512179815,
+              0.0005563479127075333,
+              0.03499941127384332
+            ],
+            "button_min_z_position": [
+              0.17809624969959256,
+              -0.4107467532157898,
+              0.7683249711990356
+            ],
+            "min_active_finger_to_button": 0.14551940813231384,
+            "closest_active_finger": [
+              0.05167054384946823,
+              -0.473910391330719,
+              0.8105324506759644
+            ],
+            "closest_active_finger_button": [
+              0.178179383277893,
+              -0.4107687473297119,
+              0.7761152386665344
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12650883942842478,
+              -0.06314164400100708,
+              0.03441721200942993
+            ],
+            "min_contact_pad_to_button": 0.021000075792702792,
+            "closest_contact_pad": [
+              0.17809624969959256,
+              -0.4112943236166091,
+              0.7893179069145426
+            ],
+            "closest_contact_pad_button": [
+              0.17809624969959256,
+              -0.4107467532157898,
+              0.7683249711990356
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005475704008193194,
+              0.020992935715506977
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b33cfb129d0cb311c7e68944f36688ba587abdb3b75220af59d44b4eeefaeb8c",
+    "visual_seed": 7676223887499443825,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3710a8d89615aff11b0a16138d0bcb3cd4763da7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_59_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3707551760885135,
+              0.26427767103502686,
+              1.007189979451887
+            ],
+            "current_z": 1.007189979451887,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.1460834714371212,
+            "gripper_z": 1.0050130390994314,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3656359168469568,
+              0.259497594539204,
+              1.0050130390994314
+            ],
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+              0.005119259241556706,
+              0.004780076495822849,
+              0.0021769403524556363
+            ],
+            "object_to_gripper_xy": 0.0070039950377039665,
+            "object_to_gripper_z": 0.0021769403524556363,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3707551760885135,
+              0.23960921400361052,
+              1.007189979451887
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+            "finger_b": [
+              0.35926619534821075,
+              0.26427767103502686,
+              1.007189979451887
+            ],
+            "finger_midpoint": [
+              0.36501068571836215,
+              0.25194344251931866,
+              1.007189979451887
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+              0.005744490370151345,
+              0.012334228515708201,
+              0.0
+            ],
+            "finger_gap": 0.02721267077598011,
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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": 1.007189979451887,
+            "object_top_z": 1.057029843637935,
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+            "fingertip_min_top_clearance": 0.01495195925581444,
+            "object_projection_between_fingers": 0.8217536408373162,
+            "object_to_finger_line_xy": 0.010414833224568706,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828001671295547,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2929464085443483,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 183,
+            "max_stable_success_frames": 183,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3120113970722638,
+              0.36773050392310774,
+              0.756586388199276
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+            "gripper_position": [
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+              0.3329564268522544,
+              1.0323829994795126
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+            "held_position": [
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+              0.33774468653766954,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.0047882596854151305,
+              0.002077347419584097
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+            "max_held_gripper_dist": 0.00739963042569354,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "gripper_z": 1.0323829994795126,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21766097758501,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.7886001045684472,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.3318654462474564,
+            "max_source_tilt_deg": 89.67684206811519,
+            "source_upright_tilt_deg": 2.4008870313218424,
+            "max_source_upright_tilt_deg": 89.80388259897195,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.3318654462474564,
+            "source_upright_return_tilt_deg": 2.4008870313218424,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.9082797281243946e-07,
+            "max_target_xy_drift": 5.870376707193913e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.312,
+                0.3677,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.312,
+                0.3677,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0004,
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+                0.0011
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              ],
+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
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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",
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+                "joint3",
+                "joint4",
+                "joint5",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "ground",
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+            },
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+              "passed": true,
+              "source_missing": false,
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+              "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": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.33114285451585096,
+              -0.3514621332067734,
+              0.8470196997067914
+            ],
+            "target_position": [
+              0.32276533249612765,
+              -0.3530814033872471,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008532579393613642,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857842956687425,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196997067914,
+            "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": 0.07591341205419212,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678235348074491,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15321105865671789,
+            "release_required_pad_clearance": 0.053391176740372456,
+            "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": 1.7966208046509264,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00828862190246582,
+            "max_z_decrease": 0.00828862190246582,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502709883190381,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00828862190246582,
+            "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": 0.021118811989168457,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00828862190246582,
+            "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": 0.008289550721703773,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17846526205539698,
+              -0.4093428552150725,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17846526205539698,
+              -0.4093428552150725,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17645736110502255,
+              -0.4082204165348813,
+              0.8038477319996775
+            ],
+            "closest_button": [
+              0.17834447324275965,
+              -0.40929630398750294,
+              0.7688880562782288
+            ],
+            "closest_ee_minus_button": [
+              -0.0018871121377370959,
+              0.00107588745262166,
+              0.03495967572144876
+            ],
+            "button_min_z_position": [
+              0.17834594845771784,
+              -0.40930876135826105,
+              0.7685202360153198
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+            "min_active_finger_to_button": 0.14723889221044378,
+            "closest_active_finger": [
+              0.048723332583904266,
+              -0.46971315145492554,
+              0.8095518350601196
+            ],
+            "closest_active_finger_button": [
+              0.17847418785095207,
+              -0.4093523025512695,
+              0.7749025225639343
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1297508552670478,
+              -0.06036084890365606,
+              0.0346493124961853
+            ],
+            "min_contact_pad_to_button": 0.021118811989168457,
+            "closest_contact_pad": [
+              0.17834447324275965,
+              -0.4095549129673777,
+              0.7900052848186735
+            ],
+            "closest_contact_pad_button": [
+              0.17834447324275965,
+              -0.40929630398750294,
+              0.7688880562782288
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002586089798747859,
+              0.021117228540444732
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "02f194e1f3d5c27d7bbbddb8cee606a70f80e0f6b1dd6fbab9e839d62865377a",
+    "visual_seed": 3299567136526317573,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c8e94065b1ab45c2def4db86ccd98733edb4b07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_5_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36985182902538255,
+              0.26787004567103806,
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+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9437674890075061,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008341014385223389,
+            "max_z_decrease": 0.008341014385223389,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501489694156631,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008341014385223389,
+            "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": 0.021354131551840523,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008341014385223389,
+            "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": 0.00834168229264509,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18331889808177948,
+              -0.4091344475746155,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18331889808177948,
+              -0.4091344475746155,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1834466719329454,
+              -0.41064520853438546,
+              0.8046214646515978
+            ],
+            "closest_button": [
+              0.183241605758667,
+              -0.4091203808784485,
+              0.7696403861045837
+            ],
+            "closest_ee_minus_button": [
+              0.00020506617427840101,
+              -0.0015248276559369778,
+              0.034981078547014044
+            ],
+            "button_min_z_position": [
+              0.18321889638900757,
+              -0.4091006517410278,
+              0.7684678435325623
+            ],
+            "min_active_finger_to_button": 0.14561532669150234,
+            "closest_active_finger": [
+              0.04278653860092163,
+              -0.3939068913459778,
+              0.8078455328941345
+            ],
+            "closest_active_finger_button": [
+              0.18334002792835236,
+              -0.4091468155384063,
+              0.7729702591896057
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14055348932743073,
+              0.015239924192428533,
+              0.03487527370452881
+            ],
+            "min_contact_pad_to_button": 0.021354131551840523,
+            "closest_contact_pad": [
+              0.1832331418991089,
+              -0.41186893249946327,
+              0.7900118007035778
+            ],
+            "closest_contact_pad_button": [
+              0.1832331418991089,
+              -0.4091079235076904,
+              0.7688369154930115
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027610089917728953,
+              0.02117488521056632
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4fcff6cd3024ed4155d43ffd4b3dd82436b1a13580fd0019ba51e0987736a4ab",
+    "visual_seed": 4946490126714460875,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57466348e67399d293c04b18590238fbae6c2a02
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_60_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36686505899248417,
+              0.2646669227877339,
+              1.0048683974896573
+            ],
+            "current_z": 1.0048683974896573,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14376188947489132,
+            "gripper_z": 1.0030395006898942,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3616806035516781,
+              0.25989903672497106,
+              1.0030395006898942
+            ],
+            "object_minus_gripper": [
+              0.0051844554408060906,
+              0.004767886062762849,
+              0.0018288967997630579
+            ],
+            "object_to_gripper_xy": 0.007043530061353618,
+            "object_to_gripper_z": 0.0018288967997630579,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36686505899248417,
+              0.23990822786794294,
+              1.0048683974896573
+            ],
+            "finger_b": [
+              0.3554667659640782,
+              0.2646669227877339,
+              1.0048683974896573
+            ],
+            "finger_midpoint": [
+              0.3611659124782812,
+              0.2522875753278384,
+              1.0048683974896573
+            ],
+            "object_minus_finger_midpoint": [
+              0.005699146514202946,
+              0.012379347459895496,
+              0.0
+            ],
+            "finger_gap": 0.027256449843893655,
+            "fingertip_max_gap": 0.09131937692516714,
+            "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": 1.0048683974896573,
+            "object_top_z": 1.0546811132208098,
+            "finger_top_clearance": 0.049812715731152535,
+            "fingertip_min_top_clearance": 0.014943814719345777,
+            "object_projection_between_fingers": 0.8251196318791454,
+            "object_to_finger_line_xy": 0.010353764386520326,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048159688462583575,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2848890892514957,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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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": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ed387dab269a6d5f665f59b990b4db3225524b6685578e4424ead14aaefc887",
+    "visual_seed": 4090831664750711526,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a6605d2b2e5cb15904b136abfaa6eb061d1b38b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_61_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3718074601970077,
+              0.2722758687412282,
+              1.005597558932017
+            ],
+            "current_z": 1.005597558932017,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.14449099131260623,
+            "gripper_z": 1.0032975098635581,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3669856164601224,
+              0.2674718737872262,
+              1.0032975098635581
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+            "object_minus_gripper": [
+              0.004821843736885323,
+              0.004803994954002022,
+              0.0023000490684588204
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+            "object_to_gripper_xy": 0.006806507514211462,
+            "object_to_gripper_z": 0.0023000490684588204,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3718074601970077,
+              0.24812000340784554,
+              1.005597558932017
+            ],
+            "finger_b": [
+              0.35989559548686423,
+              0.2722758687412282,
+              1.005597558932017
+            ],
+            "finger_midpoint": [
+              0.365851527841936,
+              0.2601979360745369,
+              1.005597558932017
+            ],
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+              0.005955932355071747,
+              0.012077932666691327,
+              0.0
+            ],
+            "finger_gap": 0.026933220209942984,
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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": 1.0555493224661279,
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+            "fingertip_min_top_clearance": 0.014985529060233253,
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+            "object_to_finger_line_xy": 0.010683512686740441,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843112634837181,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.385862858217921,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.32050398606915087,
+              0.3647789713207975,
+              0.7565864478039208
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+            "gripper_position": [
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+              0.33270141605747816,
+              1.0300041863103477
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+              0.032077555263319346,
+              -0.2734177385064269
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+            "held_position": [
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+              0.33743122811428833,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004729812056810168,
+              0.0022043711561507973
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+            "max_held_gripper_dist": 0.007262126971948526,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
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+            "gripper_z": 1.0300041863103477,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21296180743605,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.644364568244243,
+            "max_source_tilt_deg": 89.80344418178834,
+            "source_upright_tilt_deg": 2.304312176387998,
+            "max_source_upright_tilt_deg": 89.81642931434916,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.644364568244243,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.424321830774485e-08,
+            "max_target_xy_drift": 2.5288109106536417e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                0.3648,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.3648,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0013,
+                -0.0016
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+              "controller_last_pour_pose_position": [
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+                1.0202
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+              "controller_t": 0.0,
+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.3043193155413064,
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+              "wrist_compensated_return_position": -1.614241361618042
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0013,
+              -0.0016
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.3408,
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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"
+              ],
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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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.3322148019478548,
+              -0.34975701848366686,
+              0.8470196113154506
+            ],
+            "target_position": [
+              0.32289637298844537,
+              -0.35140422731985793,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009462896766930635,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1894462764907078,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196113154506,
+            "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": 0.07552934368870143,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517321969971141,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15765543682864,
+            "release_required_pad_clearance": 0.052586609849855706,
+            "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": 0.2373880216841869,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008414208889007568,
+            "max_z_decrease": 0.008414208889007568,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499936919538939,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008414208889007568,
+            "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": 0.021077902944634682,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008414208889007568,
+            "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": 0.008414863391993509,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17859630286693567,
+              -0.4076656997203827,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17859630286693567,
+              -0.4076656997203827,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.178804190914626,
+              -0.406642215908436,
+              0.8037499779965737
+            ],
+            "closest_button": [
+              0.17849679291248316,
+              -0.40764346718788147,
+              0.7687662839889526
+            ],
+            "closest_ee_minus_button": [
+              0.000307398002142828,
+              0.0010012512794454476,
+              0.034983694007621025
+            ],
+            "button_min_z_position": [
+              0.17849247157573694,
+              -0.4076504111289978,
+              0.7683946490287781
+            ],
+            "min_active_finger_to_button": 0.14532473510203534,
+            "closest_active_finger": [
+              0.05156196653842926,
+              -0.46916693449020386,
+              0.809514045715332
+            ],
+            "closest_active_finger_button": [
+              0.17860724031925196,
+              -0.407674103975296,
+              0.7749104499816895
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270452737808227,
+              -0.06149283051490784,
+              0.03460359573364258
+            ],
+            "min_contact_pad_to_button": 0.021077902944634682,
+            "closest_contact_pad": [
+              0.17849247157573694,
+              -0.40785989948774937,
+              0.7894715109197472
+            ],
+            "closest_contact_pad_button": [
+              0.17849247157573694,
+              -0.4076504111289978,
+              0.7683946490287781
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002094883587515639,
+              0.021076861890969134
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "35a830f976e04995caf597b5059d349a4c14c2e5777a78dd426c299bf5389580",
+    "visual_seed": 9029980927992897122,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f08029aff74b3a8640fc007bcaefb3723f1dcdf6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_62_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36579927066864726,
+              0.2720882788480906,
+              1.0041449790317376
+            ],
+            "current_z": 1.0041449790317376,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14303829220303732,
+            "gripper_z": 1.0022565279892544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3607246404304833,
+              0.26724820160168694,
+              1.0022565279892544
+            ],
+            "object_minus_gripper": [
+              0.005074630238163957,
+              0.004840077246403673,
+              0.0018884510424832524
+            ],
+            "object_to_gripper_xy": 0.007012718431909451,
+            "object_to_gripper_z": 0.0018884510424832524,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36579927066864726,
+              0.24764655347322284,
+              1.0041449790317376
+            ],
+            "finger_b": [
+              0.353984555892519,
+              0.2720882788480906,
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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": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008366703987121582,
+            "max_z_decrease": 0.008366703987121582,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501246777585134,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008366703987121582,
+            "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": 0.021071744908004078,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008366703987121582,
+            "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": 0.008367103466933505,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18094718456268305,
+              -0.41239616274833685,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18094718456268305,
+              -0.41239616274833685,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18077426333786298,
+              -0.4134407675438994,
+              0.8034385982178222
+            ],
+            "closest_button": [
+              0.18086610734462732,
+              -0.4123856127262116,
+              0.7684421539306641
+            ],
+            "closest_ee_minus_button": [
+              -9.184400676434668e-05,
+              -0.001055154817687809,
+              0.03499644428715809
+            ],
+            "button_min_z_position": [
+              0.18086610734462732,
+              -0.4123856127262116,
+              0.7684421539306641
+            ],
+            "min_active_finger_to_button": 0.1459395399634858,
+            "closest_active_finger": [
+              0.03973755985498428,
+              -0.39935195446014404,
+              0.8109301328659058
+            ],
+            "closest_active_finger_button": [
+              0.18095132708549494,
+              -0.4124031662940979,
+              0.7764818072319031
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14121376723051066,
+              0.013051211833953857,
+              0.034448325634002686
+            ],
+            "min_contact_pad_to_button": 0.021071744908004078,
+            "closest_contact_pad": [
+              0.18086610734462732,
+              -0.41443617889912615,
+              0.7894138875699819
+            ],
+            "closest_contact_pad_button": [
+              0.18086610734462732,
+              -0.4123856127262116,
+              0.7684421539306641
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020505661729145475,
+              0.020971733639317813
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "03d021038bdeb55f18468087fd023449d3d3a5c7b6383663c5abdaa908d69abb",
+    "visual_seed": 7084132766092842898,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df3564d8b24b3c445e0e78fa88ad6b07dcccc6b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_64_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3711282862604978,
+              0.26806148727470624,
+              1.0065818086591753
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+            "current_z": 1.0065818086591753,
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+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1454750622258303,
+            "gripper_z": 1.0046542857724585,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36600409975494835,
+              0.26327170123006777,
+              1.0046542857724585
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+              0.005124186505549466,
+              0.004789786044638478,
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+            "object_to_gripper_z": 0.001927522886716826,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3711282862604978,
+              0.24341899984484425,
+              1.0065818086591753
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+            "finger_b": [
+              0.3596009837234072,
+              0.26806148727470624,
+              1.0065818086591753
+            ],
+            "finger_midpoint": [
+              0.3653646349919525,
+              0.25574024355977526,
+              1.0065818086591753
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+            "object_minus_finger_midpoint": [
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+              0.012321243714930985,
+              0.0
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+            "finger_gap": 0.027205346726563186,
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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": 0.010441381641834224,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048338143035852,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4661259617827025,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
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+              1.0
+            ],
+            "stable_success_frames": 182,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3110114397491893,
+              0.3690220471684233,
+              0.7565865074085656
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+            "gripper_position": [
+              0.3175213154332093,
+              0.33587286072712114,
+              1.0308796134585767
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+              0.03314918644130216,
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+            "held_position": [
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004784731981767432,
+              0.001822131892082357
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3fe2816c8a23e537807e41932e14926358b5e58f434e391ad90ba19e00f2330a",
+    "visual_seed": 3068527912863242172,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebf9ecfe6a20da41d9fde0e024c2c7c7984d64ed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_65_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.26566504799173996,
+              1.0049861911204512
+            ],
+            "current_z": 1.0049861911204512,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14387974271032988,
+            "gripper_z": 1.0026253631030662,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2608227381410276,
+              1.0026253631030662
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+              0.0048423098507123785,
+              0.0023608280173850194
+            ],
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+            "object_to_gripper_z": 0.0023608280173850194,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3668031939939337,
+              0.24133675789692283,
+              1.0049861911204512
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+            "finger_b": [
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+              0.26566504799173996,
+              1.0049861911204512
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+            "finger_midpoint": [
+              0.360855309456477,
+              0.25350090294433136,
+              1.0049861911204512
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+              0.005947884537456705,
+              0.012164145047408592,
+              0.0
+            ],
+            "finger_gap": 0.02708089771077103,
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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": 0.010686636907178356,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836969474848411,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3692567702595488,
+              0.7565864478039208
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+              0.335280479077875,
+              1.032264448324967
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+              0.03397629118167378,
+              -0.2756780005210462
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+            "held_position": [
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+              0.34006726860016223,
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+            "held_minus_target": [
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+              0.0022548819668548603
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+            "missing_held_position_samples": 0,
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+            "target_z": 0.7565864478039208,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.2368196582069,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.6201492503547126,
+            "max_source_tilt_deg": 89.83442931321537,
+            "source_upright_tilt_deg": 2.1992007338244277,
+            "max_source_upright_tilt_deg": 89.60817797594106,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.960464477539063e-08,
+            "max_target_xy_drift": 2.7476383618393204e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
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+                0.3693,
+                0.7566
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+              "controller_target_position": [
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+                0.3693,
+                0.7566
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+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                -0.0
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6152989864349365
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0225
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+            "pour_controller_controller_event": 6,
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.32495476764008685,
+              -0.35242125275888975,
+              0.8470193408750241
+            ],
+            "target_position": [
+              0.3193418749774341,
+              -0.3530712290934324,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005650401160796157,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18515056236201913,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193408750241,
+            "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": 0.07519158292935947,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08928748106410615,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15419990064528363,
+            "release_required_pad_clearance": 0.05464374053205308,
+            "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": 4.327483051574293,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008229196071624756,
+            "max_z_decrease": 0.008229196071624756,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502885070637261,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008229196071624756,
+            "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": 0.020989571040963845,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008229196071624756,
+            "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": 0.00822941604944714,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1750417947769165,
+              -0.4093326926231384,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1750417947769165,
+              -0.4093326926231384,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17360740504858252,
+              -0.4082447344708812,
+              0.8035647464549667
+            ],
+            "closest_button": [
+              0.1749817430973053,
+              -0.4093289077281952,
+              0.7685796618461609
+            ],
+            "closest_ee_minus_button": [
+              -0.0013743380487227785,
+              0.0010841732573139695,
+              0.03498508460880578
+            ],
+            "button_min_z_position": [
+              0.1749817430973053,
+              -0.4093289077281952,
+              0.7685796618461609
+            ],
+            "min_active_finger_to_button": 0.14663291190052777,
+            "closest_active_finger": [
+              0.04647248983383179,
+              -0.4708743393421173,
+              0.8107075095176697
+            ],
+            "closest_active_finger_button": [
+              0.17504684627056116,
+              -0.4093404710292816,
+              0.7763065099716187
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12857435643672938,
+              -0.06153386831283569,
+              0.034400999546051025
+            ],
+            "min_contact_pad_to_button": 0.020989571040963845,
+            "closest_contact_pad": [
+              0.1749817430973053,
+              -0.4094555318679577,
+              0.7895688509398562
+            ],
+            "closest_contact_pad_button": [
+              0.1749817430973053,
+              -0.4093289077281952,
+              0.7685796618461609
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00012662413976249898,
+              0.020989189093695293
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa60067e289803b015543b5296eac17714656277d225ea0098c5d8a944297366",
+    "visual_seed": 4315619445194149874,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6274ad25e84492e6d3fe38d5ff723c3fa8365a88
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_66_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+              1.0042885616320647
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+            "lift_margin": 0.14318211322194352,
+            "gripper_z": 1.0022987710529978,
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+              1.0022987710529978
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+              0.0049416527427014745,
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+            "object_to_gripper_z": 0.001989790579066897,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3711495677244703,
+              0.24732046358485413,
+              1.0042885616320647
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+            "finger_b": [
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+              1.0042885616320647
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+              0.36525415225982977,
+              0.25972452351372527,
+              1.0042885616320647
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+              0.005895415464640508,
+              0.012404059928871114,
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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": 0.8157324505410787,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04820207860173713,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1382516006157761,
+            "object_max_tilt_deg": 15.0,
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+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008112013339996338,
+            "max_z_decrease": 0.008112013339996338,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505419860962383,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008112013339996338,
+            "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": 0.021150847901573844,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008112013339996338,
+            "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": 0.008112287097968457,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17798356711864466,
+              -0.4124645590782165,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17798356711864466,
+              -0.4124645590782165,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1792664715675575,
+              -0.4107184248315582,
+              0.8040888180947419
+            ],
+            "closest_button": [
+              0.17788410186767573,
+              -0.41245010495185846,
+              0.7691047191619873
+            ],
+            "closest_ee_minus_button": [
+              0.0013823696998817858,
+              0.001731680120300283,
+              0.03498409893275456
+            ],
+            "button_min_z_position": [
+              0.17791692912578577,
+              -0.4124636054039001,
+              0.7686968445777893
+            ],
+            "min_active_finger_to_button": 0.14410928255218752,
+            "closest_active_finger": [
+              0.0516899973154068,
+              -0.47255319356918335,
+              0.8084129691123962
+            ],
+            "closest_active_finger_button": [
+              0.17799927294254297,
+              -0.41247311234474177,
+              0.7737166285514832
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12630927562713617,
+              -0.060080081224441584,
+              0.034696340560913086
+            ],
+            "min_contact_pad_to_button": 0.021150847901573844,
+            "closest_contact_pad": [
+              0.17791692912578577,
+              -0.4124636054039001,
+              0.7898476924793632
+            ],
+            "closest_contact_pad_button": [
+              0.17791692912578577,
+              -0.4124636054039001,
+              0.7686968445777893
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021150847901573844
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "92f1e3c6b4be4d16c0680744d7af3d19a80fad50c609f55d27bcacd693e071ed",
+    "visual_seed": 3507749635830895571,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03a9708ccab7b62d368e477ebe81b32f6bc4fd66
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_67_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.37155328889523687,
+              0.26629032299551997,
+              1.0068907231760535
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+            "current_z": 1.0068907231760535,
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+            "lift_margin": 0.1457839767427085,
+            "gripper_z": 1.004999518392931,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3664425763617639,
+              0.2614892057838113,
+              1.004999518392931
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+              0.00511071253347295,
+              0.004801117211708672,
+              0.0018912047831225465
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+            "object_to_gripper_xy": 0.007012140121272731,
+            "object_to_gripper_z": 0.0018912047831225465,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.37155328889523687,
+              0.24168218962195998,
+              1.0068907231760535
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+            "finger_b": [
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+              0.26629032299551997,
+              1.0068907231760535
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+            "finger_midpoint": [
+              0.3657631670329942,
+              0.25398625630873994,
+              1.0068907231760535
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+              0.005790121862242648,
+              0.012304066686780024,
+              0.0
+            ],
+            "finger_gap": 0.027196732760561483,
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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": 0.010478030011152762,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847336676274931,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.67595585323604,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
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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_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565864478039208
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+              0.33482379509880156,
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+              0.004957149799548088,
+              0.0018403383190781497
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+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0308245328562342,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22447750637669,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_tilt_deg": 1.2209821330092636,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.672257036478589,
+            "max_source_tilt_deg": 89.91542169444737,
+            "source_upright_tilt_deg": 3.4353742588979475,
+            "max_source_upright_tilt_deg": 89.93979061850332,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.672257036478589,
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a52fca49394c23b32b16df2c1ab7177b7a5ca6484f7c0e8eda90ea7734ffe5cb",
+    "visual_seed": 2214288028677676956,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c58445bd8fa7f6435ce7671be472ea26d38d7f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_68_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+              1.0078218806806425
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+              0.26605211445054733,
+              1.005481356615298
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+              0.004891154373453721,
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+              0.2588273904294005,
+              1.0078218806806425
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+              0.012115878394600543,
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+            "stable_success_frames": 183,
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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_a",
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+              "allowed_objects": [
+                "beaker_a"
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
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+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_pose_failed_keys": [
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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"
+                }
+              ],
+              "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": 4,
+      "skill": "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": [
+              0.33162396857354604,
+              -0.3548405342812732,
+              0.8470194785789786
+            ],
+            "target_position": [
+              0.3225501248293971,
+              -0.3568245488813341,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009288215879623246,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18873416329757622,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194785789786,
+            "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": 0.07543397227512175,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529280431699064,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15729323460538633,
+            "release_required_pad_clearance": 0.05264640215849532,
+            "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": 0.3516586206870772,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008238375186920166,
+            "max_z_decrease": 0.008238375186920166,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506846310801751,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008238375186920166,
+            "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": 0.020980157140403466,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008238375186920166,
+            "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": 0.008238638062091746,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17825004458427424,
+              -0.4130859971046447,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17825004458427424,
+              -0.4130859971046447,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17964884920361973,
+              -0.4117747138484639,
+              0.8035839517833614
+            ],
+            "closest_button": [
+              0.17818434536457056,
+              -0.4130821228027343,
+              0.7685704827308655
+            ],
+            "closest_ee_minus_button": [
+              0.0014645038390491694,
+              0.0013074089542703948,
+              0.035013469052495916
+            ],
+            "button_min_z_position": [
+              0.17818434536457056,
+              -0.4130821228027343,
+              0.7685704827308655
+            ],
+            "min_active_finger_to_button": 0.14403705798226238,
+            "closest_active_finger": [
+              0.053650759160518646,
+              -0.4766717553138733,
+              0.8103066682815552
+            ],
+            "closest_active_finger_button": [
+              0.1782552748918533,
+              -0.4130936563014983,
+              0.7759815454483032
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12460451573133466,
+              -0.06357809901237499,
+              0.03432512283325195
+            ],
+            "min_contact_pad_to_button": 0.020980157140403466,
+            "closest_contact_pad": [
+              0.17818434536457056,
+              -0.4130821228027343,
+              0.7895506398712689
+            ],
+            "closest_contact_pad_button": [
+              0.17818434536457056,
+              -0.4130821228027343,
+              0.7685704827308655
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020980157140403466
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c0445a19ca242b5ca88cdb1994d8f0e4821233b850a2d895d8d2538b5a95bb5",
+    "visual_seed": 5545511749752551538,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c3aa8b2abae9455a438d83a576ede9b01471d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_69_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3711517234566218,
+              0.26442178583667986,
+              1.0056445322617704
+            ],
+            "current_z": 1.0056445322617704,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.14453796464235946,
+            "gripper_z": 1.0030869814852539,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36606679201240383,
+              0.25961476667382194,
+              1.0030869814852539
+            ],
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+              0.005084931444217955,
+              0.004807019162857917,
+              0.0025575507765165373
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+            "object_to_gripper_xy": 0.006997425313962253,
+            "object_to_gripper_z": 0.0025575507765165373,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3711517234566218,
+              0.2399805583636702,
+              1.0056445322617704
+            ],
+            "finger_b": [
+              0.35933883173642084,
+              0.26442178583667986,
+              1.0056445322617704
+            ],
+            "finger_midpoint": [
+              0.3652452775965213,
+              0.252201172100175,
+              1.0056445322617704
+            ],
+            "object_minus_finger_midpoint": [
+              0.005906445860100473,
+              0.012220613736504848,
+              0.0
+            ],
+            "finger_gap": 0.02714623383050759,
+            "fingertip_max_gap": 0.09140910302071423,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013573116915253806,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0056445322617704,
+            "object_top_z": 1.055513486145991,
+            "finger_top_clearance": 0.049868953884220524,
+            "fingertip_min_top_clearance": 0.014960686165266123,
+            "object_projection_between_fingers": 0.810637806817027,
+            "object_to_finger_line_xy": 0.010635787470562198,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048204551510357116,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1659108849682005,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008179013248779721,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1800064891576767,
+              -0.41320964694023127,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1800064891576767,
+              -0.41320964694023127,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1786364247219884,
+              -0.4121548238560991,
+              0.8036102909571341
+            ],
+            "closest_button": [
+              0.17992395162582395,
+              -0.413200557231903,
+              0.7686302661895752
+            ],
+            "closest_ee_minus_button": [
+              -0.0012875269038355452,
+              0.0010457333758039367,
+              0.034980024767558904
+            ],
+            "button_min_z_position": [
+              0.17992395162582395,
+              -0.413200557231903,
+              0.7686302661895752
+            ],
+            "min_active_finger_to_button": 0.14665637735125753,
+            "closest_active_finger": [
+              0.051408082246780396,
+              -0.47464659810066223,
+              0.809354305267334
+            ],
+            "closest_active_finger_button": [
+              0.1800165623426437,
+              -0.4132180213928222,
+              0.7747930288314819
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12860848009586331,
+              -0.06142857670784002,
+              0.03456127643585205
+            ],
+            "min_contact_pad_to_button": 0.02106285047877551,
+            "closest_contact_pad": [
+              0.17992395162582395,
+              -0.4133832747916023,
+              0.789692324127598
+            ],
+            "closest_contact_pad_button": [
+              0.17992395162582395,
+              -0.413200557231903,
+              0.7686302661895752
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00018271755969928583,
+              0.02106205793802285
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a4d6e1e15ec61025238d0f950e8f6e018707820ed559a619f90d9ac9bd246403",
+    "visual_seed": 1540595901672923794,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aca82e2ebae3a8c8b217e9ccb842cd3bf8b4ace5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_6_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3648043961040777,
+              0.27277976789691183,
+              1.0074091741542168
+            ],
+            "current_z": 1.0074091741542168,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.14630242772087165,
+            "gripper_z": 1.0049989551490714,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3596488405933367,
+              0.26795283455548125,
+              1.0049989551490714
+            ],
+            "object_minus_gripper": [
+              0.005155555510741039,
+              0.004826933341430584,
+              0.0024102190051453753
+            ],
+            "object_to_gripper_xy": 0.007062509334998894,
+            "object_to_gripper_z": 0.0024102190051453753,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3648043961040777,
+              0.24812713600663994,
+              1.0074091741542168
+            ],
+            "finger_b": [
+              0.35319318924034515,
+              0.27277976789691183,
+              1.0074091741542168
+            ],
+            "finger_midpoint": [
+              0.35899879267221146,
+              0.2604534519517759,
+              1.0074091741542168
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058056034318662575,
+              0.012326315945135946,
+              0.0
+            ],
+            "finger_gap": 0.02725018135627066,
+            "fingertip_max_gap": 0.09157430041717093,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013625090678135318,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0074091741542168,
+            "object_top_z": 1.0572604162343648,
+            "finger_top_clearance": 0.04985124208014802,
+            "fingertip_min_top_clearance": 0.014955372624044404,
+            "object_projection_between_fingers": 0.8184417738304507,
+            "object_to_finger_line_xy": 0.010504400131176693,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828715020858547,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2954282255691805,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 183,
+            "max_stable_success_frames": 183,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31502438206333716,
+              0.3667944725815552,
+              0.7565863285946313
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+            "gripper_position": [
+              0.3201714698247872,
+              0.3337165799923106,
+              1.0311274374643287
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+            "target_minus_gripper": [
+              -0.005147087761450064,
+              0.033077892589244595,
+              -0.2745411088696974
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+            "held_position": [
+              0.32523964103183495,
+              0.33869013831519895,
+              1.0334402544577994
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+            "held_minus_target": [
+              0.010215258968497787,
+              -0.028104334266356223,
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+            "held_minus_gripper": [
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+              0.004973558322888372,
+              0.0023128169934707454
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+            "xy_dist": 0.03347595391575379,
+            "held_xy_dist": 0.029903262704068918,
+            "held_gripper_dist": 0.007468049559316463,
+            "max_held_gripper_dist": 0.007538142617652503,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
+            "held_z": 1.0334402544577994,
+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.0311274374643287,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.20806456180115,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.7892957650630075,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.517853603451235,
+            "max_source_tilt_deg": 89.73002181927706,
+            "source_upright_tilt_deg": 2.986981401303067,
+            "max_source_upright_tilt_deg": 89.82419919600808,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.517853603451235,
+            "source_upright_return_tilt_deg": 2.986981401303067,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.998401124278527e-07,
+            "max_target_xy_drift": 7.208220137624636e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.315,
+                0.3668,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.315,
+                0.3668,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0018,
+                0.0001,
+                -0.0005
+              ],
+              "controller_last_pour_pose_position": [
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+                0.3417,
+                1.0213
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0649,
+                0.0603,
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+              ],
+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
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+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc27aca49f943e7b4980fc4fb5035e07ee2fb28c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_70_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              0.37084723655048285,
+              0.2625072270112361,
+              1.007338478525134
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+            "gripper_position": [
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+              0.25768871549385103,
+              1.0054882457158976
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+              0.005138619074238182,
+              0.004818511517385049,
+              0.0018502328092364628
+            ],
+            "object_to_gripper_xy": 0.007044392041425352,
+            "object_to_gripper_z": 0.0018502328092364628,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37084723655048285,
+              0.23788617200127127,
+              1.007338478525134
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+            "finger_b": [
+              0.35923432626554974,
+              0.2625072270112361,
+              1.007338478525134
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+            "finger_midpoint": [
+              0.3650407814080163,
+              0.2501966995062537,
+              1.007338478525134
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+              0.005806455142466527,
+              0.012310527504982405,
+              0.0
+            ],
+            "finger_gap": 0.027222344408401315,
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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": 0.014990246139260303,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843429859143668,
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+            "object_tilt_deg": 1.5431466352621372,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 183,
+            "max_stable_success_frames": 183,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3160872818912943,
+              0.3702523168389098,
+              0.7565865074085656
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+              0.323341264784038,
+              0.3375326007772549,
+              1.030963952362649
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+              0.03271971606165491,
+              -0.27437744495408345
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+            "held_position": [
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+              0.004892773838725273,
+              0.0017489798164811443
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
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+                0.3703,
+                0.7566
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+              "controller_target_position": [
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+                -0.0,
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+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_skill": "pour",
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+              0.2,
+              0.2
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_axis_frame": "end_effector",
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+                0.001303322924890838,
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_grasp_geometry_required": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578889338198415,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08548108612491671,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15349013757554444,
+            "release_required_pad_clearance": 0.05274054306245836,
+            "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": 0.5322888013290681,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008416056632995605,
+            "max_z_decrease": 0.008416056632995605,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499459439384016,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008416056632995605,
+            "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": 0.02105001428037425,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008416056632995605,
+            "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": 0.008416530796883103,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17784194648265828,
+              -0.4080349206924438,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17784194648265828,
+              -0.4080349206924438,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17663471817424045,
+              -0.4082424818037228,
+              0.8044153627926977
+            ],
+            "closest_button": [
+              0.17775288224220268,
+              -0.4080404639244079,
+              0.7694392204284668
+            ],
+            "closest_ee_minus_button": [
+              -0.001118164067962224,
+              -0.00020201787931489745,
+              0.034976142364230856
+            ],
+            "button_min_z_position": [
+              0.17775294184684745,
+              -0.40802720189094543,
+              0.76839280128479
+            ],
+            "min_active_finger_to_button": 0.14708270932751275,
+            "closest_active_finger": [
+              0.04948997497558594,
+              -0.4710594713687897,
+              0.8105621933937073
+            ],
+            "closest_active_finger_button": [
+              0.17784377932548512,
+              -0.4080428779125213,
+              0.7761015892028809
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12835380434989918,
+              -0.06301659345626837,
+              0.034460604190826416
+            ],
+            "min_contact_pad_to_button": 0.02105001428037425,
+            "closest_contact_pad": [
+              0.17775294184684745,
+              -0.40938707895622495,
+              0.7893988441194433
+            ],
+            "closest_contact_pad_button": [
+              0.17775294184684745,
+              -0.40802720189094543,
+              0.76839280128479
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013598770652795134,
+              0.021006042834653238
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a91d4deceadcf9b893f55ab9956013ce2b5f9a9318941eb33f81caa57e1a0e05",
+    "visual_seed": 1471118585369280686,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..343c22884170d25c1fe3538392e09e23dcb6165a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_73_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3663887000765571,
+              0.2660392123641879,
+              1.0042803757564736
+            ],
+            "current_z": 1.0042803757564736,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.14317392734635215,
+            "gripper_z": 1.0021577088610383,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3613573627420414,
+              0.26124697515102724,
+              1.0021577088610383
+            ],
+            "object_minus_gripper": [
+              0.0050313373345157175,
+              0.004792237213160688,
+              0.0021226668954352768
+            ],
+            "object_to_gripper_xy": 0.006948373398205788,
+            "object_to_gripper_z": 0.0021226668954352768,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3663887000765571,
+              0.24156552684255936,
+              1.0042803757564736
+            ],
+            "finger_b": [
+              0.35471685939665776,
+              0.2660392123641879,
+              1.0042803757564736
+            ],
+            "finger_midpoint": [
+              0.36055277973660743,
+              0.25380236960337366,
+              1.0042803757564736
+            ],
+            "object_minus_finger_midpoint": [
+              0.005835920339949674,
+              0.01223684276081427,
+              0.0
+            ],
+            "finger_gap": 0.0271144453726888,
+            "fingertip_max_gap": 0.09157076732015482,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013557222686344388,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0042803757564736,
+            "object_top_z": 1.0542324486624752,
+            "finger_top_clearance": 0.04995207290600168,
+            "fingertip_min_top_clearance": 0.014985621871800485,
+            "object_projection_between_fingers": 0.8146992184952794,
+            "object_to_finger_line_xy": 0.010535083949979433,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828538366007741,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.217140111386561,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
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+            "closest_active_finger_minus_button": [
+              -0.12735880911350247,
+              -0.06329986453056335,
+              0.03453952074050903
+            ],
+            "min_contact_pad_to_button": 0.021058947267584484,
+            "closest_contact_pad": [
+              0.18208593130111694,
+              -0.4167577009724707,
+              0.789722929588289
+            ],
+            "closest_contact_pad_button": [
+              0.18208593130111694,
+              -0.41574057936668396,
+              0.7686885595321655
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010171216057867638,
+              0.02103437005612352
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea9a4884ff0a62d18837a58d86dddfb219a843d21d7b115c37cc9eca755002fa",
+    "visual_seed": 9033190453065595740,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fbff8c22bfb7da5887890d0c548d60fce66eb9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_74_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.369429931564757,
+              0.2696371151955305,
+              1.0077931336254013
+            ],
+            "current_z": 1.0077931336254013,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1466865660059905,
+            "gripper_z": 1.0056058328538802,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36447923131408516,
+              0.2648518111506738,
+              1.0056058328538802
+            ],
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+              0.004950700250671847,
+              0.00478530404485672,
+              0.0021873007715211834
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+            "object_to_gripper_xy": 0.006885387990064494,
+            "object_to_gripper_z": 0.0021873007715211834,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.369429931564757,
+              0.2452539296158075,
+              1.0077931336254013
+            ],
+            "finger_b": [
+              0.3577156838374372,
+              0.2696371151955305,
+              1.0077931336254013
+            ],
+            "finger_midpoint": [
+              0.3635728077010971,
+              0.257445522405669,
+              1.0077931336254013
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058571238636598855,
+              0.012191592789861538,
+              0.0
+            ],
+            "finger_gap": 0.027051124539143108,
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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": 1.0077931336254013,
+            "object_top_z": 1.0577233033596434,
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+            "fingertip_min_top_clearance": 0.014979050920272623,
+            "object_projection_between_fingers": 0.8124754377063995,
+            "object_to_finger_line_xy": 0.010558920604161155,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048439802500418225,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3911804758254678,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 184,
+            "max_stable_success_frames": 184,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31337741632122595,
+              0.3667015191380279,
+              0.7565864478039208
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+            "gripper_position": [
+              0.3210735651348213,
+              0.3330043185662001,
+              1.0326306693604599
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+              0.03369720057182779,
+              -0.27604422155653907
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+            "held_minus_target": [
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+              0.2781351018946858
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+            "held_minus_gripper": [
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+              0.004735634363963792,
+              0.00209088033814675
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+            "held_gripper_dist": 0.007229657710738026,
+            "max_held_gripper_dist": 0.007292056791674068,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
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+            "required_height": 0.7865864478039208,
+            "gripper_z": 1.0326306693604599,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21493573210618,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_tilt_deg": 2.4905443165834886,
+            "max_source_tilt_deg": 89.8202186404302,
+            "source_upright_tilt_deg": 2.316951286245742,
+            "max_source_upright_tilt_deg": 89.88735830850383,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.4905443165834886,
+            "source_upright_return_tilt_deg": 2.316951286245742,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.960464477539063e-08,
+            "max_target_xy_drift": 1.812804499357408e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3134,
+                0.3667,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.3667,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0012
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "source_return_best_wrist_position": -1.614351511001587,
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+              "wrist_compensated_return_position": -1.614351511001587
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+          },
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+          "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",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
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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"
+              ],
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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": [
+              {
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.3291455146843719,
+              -0.3550898459106066,
+              0.8470194460773757
+            ],
+            "target_position": [
+              0.3226644629711905,
+              -0.35553924289591954,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006496613653230439,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.188599246862089,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194460773757,
+            "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": 0.07534723331252621,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085884150100607,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1570329179987181,
+            "release_required_pad_clearance": 0.0529420750503035,
+            "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": 0.921103622688555,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008421599864959717,
+            "max_z_decrease": 0.008421599864959717,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035039241195155224,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008421599864959717,
+            "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": 0.020980900575981676,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008421599864959717,
+            "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": 0.008422248862783227,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17836439609527585,
+              -0.41180071234703064,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17836439609527585,
+              -0.41180071234703064,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17765510468346163,
+              -0.4098729234942885,
+              0.803738500218836
+            ],
+            "closest_button": [
+              0.1782581657171249,
+              -0.41177445650100714,
+              0.768756091594696
+            ],
+            "closest_ee_minus_button": [
+              -0.0006030610336632825,
+              0.0019015330067186365,
+              0.03498240862413993
+            ],
+            "button_min_z_position": [
+              0.17826052010059354,
+              -0.41178882122039795,
+              0.7683872580528259
+            ],
+            "min_active_finger_to_button": 0.14566839755707262,
+            "closest_active_finger": [
+              0.050966836512088776,
+              -0.473478764295578,
+              0.8112131357192993
+            ],
+            "closest_active_finger_button": [
+              0.17836965620517728,
+              -0.4118061661720276,
+              0.7767995595932007
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1274028196930885,
+              -0.061672598123550415,
+              0.03441357612609863
+            ],
+            "min_contact_pad_to_button": 0.020980900575981676,
+            "closest_contact_pad": [
+              0.17826052010059354,
+              -0.41178882122039795,
+              0.7893681586288076
+            ],
+            "closest_contact_pad_button": [
+              0.17826052010059354,
+              -0.41178882122039795,
+              0.7683872580528259
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020980900575981676
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cedc9525a370f732ec83d4521c372fbb0ba9c28809f312122b1f64f353fd4177",
+    "visual_seed": 6018406651252522902,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cce84b5437675e7e8178f1baab8651108c0dcf31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_75_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3628148680473149,
+              0.26281033124897046,
+              1.0064575997021394
+            ],
+            "current_z": 1.0064575997021394,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14535109168737348,
+            "gripper_z": 1.0044912603980973,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35778044314532376,
+              0.25791892270556,
+              1.0044912603980973
+            ],
+            "object_minus_gripper": [
+              0.00503442490199113,
+              0.004891408543410469,
+              0.0019663393040421084
+            ],
+            "object_to_gripper_xy": 0.007019352650518232,
+            "object_to_gripper_z": 0.0019663393040421084,
+            "fingertip_source": "active_contact_pad_positions",
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008255541324615479,
+            "max_z_decrease": 0.008255541324615479,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503252476718866,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008255541324615479,
+            "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": 0.02101337365797909,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008255541324615479,
+            "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": 0.00825603635527827,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18005605041980738,
+              -0.41038209199905396,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18005605041980738,
+              -0.41038209199905396,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18118182096615584,
+              -0.4101665848635769,
+              0.8035640508588289
+            ],
+            "closest_button": [
+              0.1799656599760055,
+              -0.41038390994071966,
+              0.7685533165931702
+            ],
+            "closest_ee_minus_button": [
+              0.0012161609901503445,
+              0.0002173250771427826,
+              0.035010734265658705
+            ],
+            "button_min_z_position": [
+              0.1799656599760055,
+              -0.41038390994071966,
+              0.7685533165931702
+            ],
+            "min_active_finger_to_button": 0.14478732510517792,
+            "closest_active_finger": [
+              0.055026017129421234,
+              -0.4747747778892517,
+              0.8110032081604004
+            ],
+            "closest_active_finger_button": [
+              0.18006296455860132,
+              -0.41038838028907776,
+              0.7766008377075195
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1250369474291801,
+              -0.06438639760017395,
+              0.03440237045288086
+            ],
+            "min_contact_pad_to_button": 0.02101337365797909,
+            "closest_contact_pad": [
+              0.1799656599760055,
+              -0.41117962605137215,
+              0.7895516191045899
+            ],
+            "closest_contact_pad_button": [
+              0.1799656599760055,
+              -0.41038390994071966,
+              0.7685533165931702
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000795716110652489,
+              0.020998302511419764
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "177eddce5f134b2266822a95f06d3f83c6850aec7346a1020be9c98a7d958210",
+    "visual_seed": 2317723327223568994,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddf2333fea0abe9537ba32068d90062d6aff6db5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_76_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37241476735809553,
+              0.26560735081762377,
+              1.0040815257030884
+            ],
+            "current_z": 1.0040815257030884,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1429750772929672,
+            "gripper_z": 1.0017198027415863,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36744993489879796,
+              0.2608632898448181,
+              1.0017198027415863
+            ],
+            "object_minus_gripper": [
+              0.0049648324592975746,
+              0.004744060972805664,
+              0.002361722961502055
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+            "object_to_gripper_xy": 0.006866999043439035,
+            "object_to_gripper_z": 0.002361722961502055,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37241476735809553,
+              0.2411199944833321,
+              1.0040815257030884
+            ],
+            "finger_b": [
+              0.36087780439577966,
+              0.26560735081762377,
+              1.0040815257030884
+            ],
+            "finger_midpoint": [
+              0.3666462858769376,
+              0.25336367265047793,
+              1.0040815257030884
+            ],
+            "object_minus_finger_midpoint": [
+              0.005768481481157939,
+              0.012243678167145833,
+              0.0
+            ],
+            "finger_gap": 0.02706902537285786,
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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": 1.0040815257030884,
+            "object_top_z": 1.0540857239946444,
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+            "object_projection_between_fingers": 0.8183490144595712,
+            "object_to_finger_line_xy": 0.010436641851059261,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048373411476427416,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0836664996039185,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31135234851498206,
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+              0.7565865074085656
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+            "gripper_position": [
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+              0.33514602112304326,
+              1.0324376480902404
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+              0.3398989291069851,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004752907983941845,
+              0.002263341784449757
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+            "xy_dist": 0.03386030969561331,
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+            "held_gripper_dist": 0.0072666936459090305,
+            "max_held_gripper_dist": 0.007336164218363074,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565865074085656,
+            "held_z": 1.0347009898746902,
+            "required_height": 0.7865865074085656,
+            "gripper_z": 1.0324376480902404,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
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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",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8664f48c08b1ebfa3f1b9edac229f38bc21f2dedde3071093375eaf0890b0809",
+    "visual_seed": 1434053683054454613,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7946150a465420b5bcf3de11d0dec8cdc7ede7c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_77_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3691730732212458,
+              0.27198723092190796,
+              1.0041012460844672
+            ],
+            "current_z": 1.0041012460844672,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14299479767434586,
+            "gripper_z": 1.0017305015324933,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.363920643174166,
+              0.2669912008286007,
+              1.0017305015324933
+            ],
+            "object_minus_gripper": [
+              0.005252430047079815,
+              0.0049960300933072355,
+              0.0023707445519738357
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+            "object_to_gripper_z": 0.0023707445519738357,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3691730732212458,
+              0.24747053642446154,
+              1.0041012460844672
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+            "finger_b": [
+              0.3570656401209529,
+              0.27198723092190796,
+              1.0041012460844672
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+            "finger_midpoint": [
+              0.36311935667109935,
+              0.25972888367318475,
+              1.0041012460844672
+            ],
+            "object_minus_finger_midpoint": [
+              0.006053716550146471,
+              0.012258347248723211,
+              0.0
+            ],
+            "finger_gap": 0.02734334005492359,
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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": 1.05390070765634,
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+            "object_projection_between_fingers": 0.8039345687846394,
+            "object_to_finger_line_xy": 0.010855814903077401,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824592633941148,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4552988853564242,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31068948526043505,
+              0.3673980888191954,
+              0.756586388199276
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+            "gripper_position": [
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+              0.3348060832210753,
+              1.0299147744897652
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+            "target_minus_gripper": [
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+              0.03259200559812009,
+              -0.27332838629048917
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+            "held_position": [
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+              0.33989668818170393,
+              1.032181530403164
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+            "held_minus_target": [
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+              -0.027501400637491458,
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+              0.005090604960628631,
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+            "max_held_gripper_dist": 0.007703485844973447,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "gripper_z": 1.0299147744897652,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22389694029724,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_tilt_deg": 89.76497712648843,
+            "source_upright_tilt_deg": 2.697036088450468,
+            "max_source_upright_tilt_deg": 89.7921993798251,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.3420379135165117,
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+            "max_target_xy_drift": 7.164964246851985e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                0.3674,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.3674,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                  0.0
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.614445686340332
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_t": 0.0,
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+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
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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": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.32686904742836503,
+              -0.35469476300563535,
+              0.8470198960775954
+            ],
+            "target_position": [
+              0.319163507386235,
+              -0.35542347688468595,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007739920623520004,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18874024515519885,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198960775954,
+            "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": 0.07531690604814414,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602864157901945,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1572582417893843,
+            "release_required_pad_clearance": 0.053014320789509725,
+            "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": 1.0579409090135234,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008457601070404053,
+            "max_z_decrease": 0.008457601070404053,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350056282669569,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008457601070404053,
+            "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": 0.021019717486243737,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008457601070404053,
+            "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": 0.008457901544390788,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17486342787742615,
+              -0.4116849303245544,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17486342787742615,
+              -0.4116849303245544,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17480756691865867,
+              -0.4125134948492336,
+              0.8033465583009504
+            ],
+            "closest_button": [
+              0.17479547858238215,
+              -0.4116633534431457,
+              0.7683512568473816
+            ],
+            "closest_ee_minus_button": [
+              1.2088336276527833e-05,
+              -0.000850141406087912,
+              0.03499530145356877
+            ],
+            "button_min_z_position": [
+              0.17479547858238215,
+              -0.4116633534431457,
+              0.7683512568473816
+            ],
+            "min_active_finger_to_button": 0.14578670452967013,
+            "closest_active_finger": [
+              0.033847250044345856,
+              -0.39800044894218445,
+              0.8104447722434998
+            ],
+            "closest_active_finger_button": [
+              0.17486670613288877,
+              -0.411691665649414,
+              0.7760961651802063
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1410194560885429,
+              0.013691216707229559,
+              0.03434860706329346
+            ],
+            "min_contact_pad_to_button": 0.021019717486243737,
+            "closest_contact_pad": [
+              0.17479547858238215,
+              -0.41354702198398346,
+              0.7892864023216734
+            ],
+            "closest_contact_pad_button": [
+              0.17479547858238215,
+              -0.4116633534431457,
+              0.7683512568473816
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018836685408377685,
+              0.02093514547429176
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc541b2f7d1bba86232593c535b2de3c09f1606211006a101fb504a5d6159567",
+    "visual_seed": 4834258811572675280,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4999b2c1563999750c47693086c6c9cfa662ce2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_78_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3674216382193303,
+              0.26244937630798076,
+              1.0046167666821386
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+            "current_z": 1.0046167666821386,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.14351013945808322,
+            "gripper_z": 1.0023215100109426,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36250837473563047,
+              0.2578092796039635,
+              1.0023215100109426
+            ],
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+              0.004913263483699859,
+              0.004640096704017271,
+              0.002295256671196011
+            ],
+            "object_to_gripper_xy": 0.0067580067684851,
+            "object_to_gripper_z": 0.002295256671196011,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3674216382193303,
+              0.23784505212334978,
+              1.0046167666821386
+            ],
+            "finger_b": [
+              0.3562211650107283,
+              0.26244937630798076,
+              1.0046167666821386
+            ],
+            "finger_midpoint": [
+              0.3618214016150293,
+              0.25014721421566527,
+              1.0046167666821386
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+            "object_minus_finger_midpoint": [
+              0.005600236604301034,
+              0.012302162092315494,
+              0.0
+            ],
+            "finger_gap": 0.027033744999149283,
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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": 1.0046167666821386,
+            "object_top_z": 1.0547146177811064,
+            "finger_top_clearance": 0.050097851098967805,
+            "fingertip_min_top_clearance": 0.015029355329690307,
+            "object_projection_between_fingers": 0.8283434746710893,
+            "object_to_finger_line_xy": 0.01019392887868068,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481630745132597,
+            "require_object_upright": true,
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008456170558929443,
+            "max_z_decrease": 0.008456170558929443,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0349886006644209,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008456170558929443,
+            "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": 0.02103288537479993,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008456170558929443,
+            "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": 0.008456976754932797,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1820906549692153,
+              -0.4075129330158233,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1820906549692153,
+              -0.4075129330158233,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18174952278425888,
+              -0.40672345197604653,
+              0.8042754953284381
+            ],
+            "closest_button": [
+              0.181982010602951,
+              -0.40752130746841425,
+              0.7692967653274536
+            ],
+            "closest_ee_minus_button": [
+              -0.00023248781869211754,
+              0.0007978554923677161,
+              0.034978730000984504
+            ],
+            "button_min_z_position": [
+              0.18197706341743464,
+              -0.4074858725070953,
+              0.7683526873588562
+            ],
+            "min_active_finger_to_button": 0.14591185791255445,
+            "closest_active_finger": [
+              0.05514538288116455,
+              -0.4706208407878876,
+              0.810631513595581
+            ],
+            "closest_active_finger_button": [
+              0.18209862709045405,
+              -0.40752109885215754,
+              0.77611243724823
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1269532442092895,
+              -0.06309974193573004,
+              0.034519076347351074
+            ],
+            "min_contact_pad_to_button": 0.02103288537479993,
+            "closest_contact_pad": [
+              0.18197706341743464,
+              -0.4076783856028925,
+              0.7893846916831573
+            ],
+            "closest_contact_pad_button": [
+              0.18197706341743464,
+              -0.4074858725070953,
+              0.7683526873588562
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00019251309579720877,
+              0.02103200432430108
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68e411c1dc2e44af909acc4ca041a23101f90e9bb53f98d98d4282940d1b991a",
+    "visual_seed": 5513186332554498170,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6323c9964ef121c3d0c2ef6809cd67d6abd7db79
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_7_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.36784230499724857,
+              0.2697998247017483,
+              1.0076762955286862
+            ],
+            "current_z": 1.0076762955286862,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.14656948949069637,
+            "gripper_z": 1.0052506124264968,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3626719077788714,
+              0.2650256398040001,
+              1.0052506124264968
+            ],
+            "object_minus_gripper": [
+              0.005170397218377143,
+              0.004774184897748168,
+              0.00242568310218938
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+            "object_to_gripper_xy": 0.007037460396598249,
+            "object_to_gripper_z": 0.00242568310218938,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.36784230499724857,
+              0.24506319486813963,
+              1.0076762955286862
+            ],
+            "finger_b": [
+              0.35641424796213705,
+              0.2697998247017483,
+              1.0076762955286862
+            ],
+            "finger_midpoint": [
+              0.3621282764796928,
+              0.25743150978494395,
+              1.0076762955286862
+            ],
+            "object_minus_finger_midpoint": [
+              0.005714028517555758,
+              0.012368314916804346,
+              0.0
+            ],
+            "finger_gap": 0.027248877832357427,
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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": 0.8241074055859684,
+            "object_to_finger_line_xy": 0.010374431502615163,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821510193684721,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.291386103531672,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 183,
+            "max_stable_success_frames": 183,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3152355613197766,
+              0.36367562974136053,
+              0.7565862689899865
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+            "gripper_position": [
+              0.32070106046750324,
+              0.3294080155062318,
+              1.0322392715545288
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+              0.004823041672874562,
+              0.00231778872362165
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+            "max_held_gripper_dist": 0.007524115101206424,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565862689899865,
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+            "required_height": 0.7865862689899865,
+            "gripper_z": 1.0322392715545288,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.2331518466226,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.8366764873215882,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.337826091987163,
+            "max_source_tilt_deg": 89.76587626713487,
+            "source_upright_tilt_deg": 2.41356253261257,
+            "max_source_upright_tilt_deg": 89.8264580315812,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.337826091987163,
+            "source_upright_return_tilt_deg": 2.41356253261257,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.150983177776372e-07,
+            "max_target_xy_drift": 7.598131170262076e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f506c5455b9539e4b14a460d6c6904b9d60842fca68c01f5a0d6b6104556c84c",
+    "visual_seed": 2829431190363029666,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f8ab817ba2a1834cac5b19094ca0aac2421a361
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_80_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+              0.2720411940265403,
+              1.005161390559203
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+              0.2671727817454012,
+              1.0031160188837227
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+              0.004868412281139101,
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+              0.24769550633401044,
+              1.005161390559203
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+              1.005161390559203
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+              0.2598683501802754,
+              1.005161390559203
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+            "stable_success_frames": 181,
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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_a"
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.3352209412532094,
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+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+              "tilt_axis_frame": "end_effector",
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+            "pour_controller_wrist_compensated_return_position": -1.6152234077453613,
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+            "valid_pour_pose_failed_keys": [
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              }
+            ],
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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,
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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": 4,
+      "skill": "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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+              -0.3509174137505265,
+              0.8470197243356381
+            ],
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+              -0.35337954077171224,
+              0.8084375599031817
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+            "gripper_away_ok": true,
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+            "require_object_upright": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_required_pad_clearance": 0.053227113647818805,
+            "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": 1.4756190157154803,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008253693580627441,
+            "max_z_decrease": 0.008253693580627441,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350162291160793,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008253693580627441,
+            "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": 0.020981119372710758,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008253693580627441,
+            "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": 0.008253955453829924,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17575033009052277,
+              -0.4096409976482391,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17575033009052277,
+              -0.4096409976482391,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17444163188763395,
+              -0.4089441178344116,
+              0.8035424026613289
+            ],
+            "closest_button": [
+              0.1756845861673355,
+              -0.4096401929855346,
+              0.7685551643371582
+            ],
+            "closest_ee_minus_button": [
+              -0.001242954279701558,
+              0.0006960751511230212,
+              0.03498723832417072
+            ],
+            "button_min_z_position": [
+              0.1756845861673355,
+              -0.4096401929855346,
+              0.7685551643371582
+            ],
+            "min_active_finger_to_button": 0.14667661752623204,
+            "closest_active_finger": [
+              0.04752194136381149,
+              -0.47200775146484375,
+              0.8106964230537415
+            ],
+            "closest_active_finger_button": [
+              0.17575478553771973,
+              -0.40964737534523,
+              0.7763227224349976
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12823284417390823,
+              -0.06236037611961376,
+              0.034373700618743896
+            ],
+            "min_contact_pad_to_button": 0.020981119372710758,
+            "closest_contact_pad": [
+              0.1756845861673355,
+              -0.4101121573748666,
+              0.7895309746849646
+            ],
+            "closest_contact_pad_button": [
+              0.1756845861673355,
+              -0.4096401929855346,
+              0.7685551643371582
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00047196438933200247,
+              0.02097581034780638
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1cb9f42846aaed0de38cd38f897a0da1c52655e27040135dc8c9c16e5c2cb155",
+    "visual_seed": 4951072603426513373,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..956ffc0dfd6357ffda1f08504185f5a27fe6aabb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_81_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3651931144785014,
+              0.2723782179560794,
+              1.0057368426013984
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+            "current_z": 1.0057368426013984,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1446303941912772,
+            "gripper_z": 1.0038874324452114,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3599922461651761,
+              0.26743982516798237,
+              1.0038874324452114
+            ],
+            "object_minus_gripper": [
+              0.00520086831332528,
+              0.004938392788097046,
+              0.0018494101561870036
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+            "object_to_gripper_xy": 0.007171942173643054,
+            "object_to_gripper_z": 0.0018494101561870036,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3651931144785014,
+              0.24785151330800445,
+              1.0057368426013984
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+            "finger_b": [
+              0.353225955399275,
+              0.2723782179560794,
+              1.0057368426013984
+            ],
+            "finger_midpoint": [
+              0.3592095349388882,
+              0.26011486563204195,
+              1.0057368426013984
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+            "object_minus_finger_midpoint": [
+              0.005983579539613204,
+              0.012263352324037469,
+              0.0
+            ],
+            "finger_gap": 0.027290513687386192,
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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": 1.0555877949333734,
+            "finger_top_clearance": 0.04985095233197501,
+            "fingertip_min_top_clearance": 0.014955285699592518,
+            "object_projection_between_fingers": 0.8077091109469013,
+            "object_to_finger_line_xy": 0.01075520159037458,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834548506402851,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5707956681058188,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur5e",
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+                "wrist_2_joint",
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+                "fr3_joint6",
+                "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_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",
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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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008309245109558105,
+            "max_z_decrease": 0.008309245109558105,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499540069922587,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008309245109558105,
+            "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": 0.020955659858512405,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008309245109558105,
+            "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": 0.008309842037788246,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17528110742568964,
+              -0.4080796241760254,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17528110742568964,
+              -0.4080796241760254,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17527425908585995,
+              -0.40744994693285835,
+              0.8038568169967315
+            ],
+            "closest_button": [
+              0.17518624663352964,
+              -0.40806636214256287,
+              0.7688669562339783
+            ],
+            "closest_ee_minus_button": [
+              8.801245233031052e-05,
+              0.0006164152097045128,
+              0.03498986076275323
+            ],
+            "button_min_z_position": [
+              0.17518174648284907,
+              -0.40807271003723145,
+              0.7684996128082275
+            ],
+            "min_active_finger_to_button": 0.14554698503054092,
+            "closest_active_finger": [
+              0.048927195370197296,
+              -0.47165966033935547,
+              0.8105236887931824
+            ],
+            "closest_active_finger_button": [
+              0.17528390884399409,
+              -0.40808722376823425,
+              0.7762242555618286
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1263567134737968,
+              -0.06357243657112122,
+              0.03429943323135376
+            ],
+            "min_contact_pad_to_button": 0.020955659858512405,
+            "closest_contact_pad": [
+              0.17518174648284907,
+              -0.40849377823575855,
+              0.7894510419164735
+            ],
+            "closest_contact_pad_button": [
+              0.17518174648284907,
+              -0.40807271003723145,
+              0.7684996128082275
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004210681985271081,
+              0.02095142910824599
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "157ad4efdc3f463e552ac46820f6fada38f69e79f6fc405204122cc4e0a43471",
+    "visual_seed": 2092393284345090950,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..24c4c80334396cb6e935fc383b00c4fd5bde9cdd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_82_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.36329687482518186,
+              0.27075463582184334,
+              1.0051751093380652
+            ],
+            "current_z": 1.0051751093380652,
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+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14406860132329902,
+            "gripper_z": 1.0033967915384534,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3582797734020885,
+              0.26607659023469554,
+              1.0033967915384534
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+              0.005017101423093362,
+              0.004678045587147794,
+              0.001778317799611795
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+            "object_to_gripper_xy": 0.006859695124787864,
+            "object_to_gripper_z": 0.001778317799611795,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.36329687482518186,
+              0.24609075829953161,
+              1.0051751093380652
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+            "finger_b": [
+              0.35205753820434027,
+              0.27075463582184334,
+              1.0051751093380652
+            ],
+            "finger_midpoint": [
+              0.3576772065147611,
+              0.2584226970606875,
+              1.0051751093380652
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+            "object_minus_finger_midpoint": [
+              0.005619668310420767,
+              0.012331938761155847,
+              0.0
+            ],
+            "finger_gap": 0.027104050289803262,
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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": 0.8280457285812497,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827730003184828,
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+            ],
+            "stable_success_frames": 180,
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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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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "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/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31662515420574744,
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+              0.33634874681995053,
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+              0.0047593776267810806,
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+            "gripper_z": 1.0306128177194185,
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+            "max_wrist_deg": 120.23692894123363,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.418209580281357,
+            "max_source_tilt_deg": 89.71049768879726,
+            "source_upright_tilt_deg": 2.5386365418496233,
+            "max_source_upright_tilt_deg": 89.88047400571234,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.418209580281357,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.096145216945484e-07,
+            "max_target_xy_drift": 1.1328803186862595e-06,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
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+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc3b6236bbda5c902ffa89099cc1e4ff92bd10e94cb7c1b9455212ac5b67e2c4",
+    "visual_seed": 7772560222727293100,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..874ae8aae0860c2be4b3c2f7463b378aa6f7ca5c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_83_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "reason": "executed",
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+            "stable_success_frames": 181,
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+          "failed_keys": [],
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+          "failure_messages": {},
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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",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
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+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
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+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
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+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            },
+            "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": 4,
+      "skill": "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": [
+              0.328633984480535,
+              -0.3588390123969604,
+              0.8470197030767833
+            ],
+            "target_position": [
+              0.3206015177436988,
+              -0.36060293910537433,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008223865229381823,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18823813876368842,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197030767833,
+            "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": 0.07527337533751906,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08585073637275974,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15722808765587679,
+            "release_required_pad_clearance": 0.05292536818637987,
+            "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": 0.8873450042416938,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0083235502243042,
+            "max_z_decrease": 0.0083235502243042,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035009296647980054,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0083235502243042,
+            "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": 0.020980966816301235,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0083235502243042,
+            "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": 0.008323708209742516,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17630144953727722,
+              -0.41686439514160156,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17630144953727722,
+              -0.41686439514160156,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1750773846412939,
+              -0.4176738001055445,
+              0.8034655697605219
+            ],
+            "closest_button": [
+              0.1762501746416092,
+              -0.41686344146728516,
+              0.7684853076934814
+            ],
+            "closest_ee_minus_button": [
+              -0.0011727900003152825,
+              -0.0008103586382593453,
+              0.03498026206704041
+            ],
+            "button_min_z_position": [
+              0.1762501746416092,
+              -0.41686344146728516,
+              0.7684853076934814
+            ],
+            "min_active_finger_to_button": 0.14692439444118294,
+            "closest_active_finger": [
+              0.034061312675476074,
+              -0.4034663438796997,
+              0.8107926249504089
+            ],
+            "closest_active_finger_button": [
+              0.1762961745262146,
+              -0.41687360405921936,
+              0.7764958739280701
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14223486185073853,
+              0.013407260179519653,
+              0.03429675102233887
+            ],
+            "min_contact_pad_to_button": 0.020980966816301235,
+            "closest_contact_pad": [
+              0.1762501746416092,
+              -0.4186792772501706,
+              0.7893875494143191
+            ],
+            "closest_contact_pad_button": [
+              0.1762501746416092,
+              -0.41686344146728516,
+              0.7684853076934814
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018158357828854665,
+              0.020902241720837655
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "de0ccfe2ac6fe21ea7d6bd464f505dce72e38ac3b88dc3e94c278f6b49f22e5b",
+    "visual_seed": 3699883146636514158,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6686202f5bd5d0118b3bc586b4111d9c5bf7ab1c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_84_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3656632337446958,
+              0.27309074592725446,
+              1.0043476507334836
+            ],
+            "current_z": 1.0043476507334836,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14324114271871746,
+            "gripper_z": 1.0023866687612009,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36061779960740187,
+              0.2682326653117619,
+              1.0023866687612009
+            ],
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+              0.005045434137293914,
+              0.004858080615492588,
+              0.0019609819722827826
+            ],
+            "object_to_gripper_xy": 0.007004095437698977,
+            "object_to_gripper_z": 0.0019609819722827826,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3656632337446958,
+              0.24872307764724938,
+              1.0043476507334836
+            ],
+            "finger_b": [
+              0.3537544585580929,
+              0.27309074592725446,
+              1.0043476507334836
+            ],
+            "finger_midpoint": [
+              0.3597088461513943,
+              0.2609069117872519,
+              1.0043476507334836
+            ],
+            "object_minus_finger_midpoint": [
+              0.005954387593301469,
+              0.01218383414000257,
+              0.0
+            ],
+            "finger_gap": 0.0271219870925678,
+            "fingertip_max_gap": 0.09157033321395161,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013560993546283939,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0043476507334836,
+            "object_top_z": 1.0543846335506082,
+            "finger_top_clearance": 0.05003698281712454,
+            "fingertip_min_top_clearance": 0.01501109484513738,
+            "object_projection_between_fingers": 0.8072070345102722,
+            "object_to_finger_line_xy": 0.010699403490528708,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828516660697581,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.210132223221798,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+              0.7692774534225464
+            ],
+            "closest_ee_minus_button": [
+              0.0012342510832328013,
+              0.0016686371380721932,
+              0.03497564949677334
+            ],
+            "button_min_z_position": [
+              0.18316498398780817,
+              -0.41306626796722407,
+              0.7685200572013855
+            ],
+            "min_active_finger_to_button": 0.14429050606828203,
+            "closest_active_finger": [
+              0.056885190308094025,
+              -0.4732332229614258,
+              0.8079530596733093
+            ],
+            "closest_active_finger_button": [
+              0.18331302702426905,
+              -0.41309946775436396,
+              0.773029088973999
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12642783671617502,
+              -0.06013375520706182,
+              0.0349239706993103
+            ],
+            "min_contact_pad_to_button": 0.02125623740574456,
+            "closest_contact_pad": [
+              0.18320351839065546,
+              -0.41306820511817927,
+              0.790533690828291
+            ],
+            "closest_contact_pad_button": [
+              0.18320351839065546,
+              -0.41306820511817927,
+              0.7692774534225464
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02125623740574456
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dfc22737b875c0ae5f8a8d744a9403d10818934e670f33412a79d9cbda00eb55",
+    "visual_seed": 4038288434408282553,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..33983635aac19bd3894874c67a6a8ef587f3b5bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_85_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3712941726234379,
+              0.2638435916721026,
+              1.0057410335231598
+            ],
+            "current_z": 1.0057410335231598,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.14463440629910418,
+            "gripper_z": 1.0032622738247559,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36615438007103335,
+              0.259117291941898,
+              1.0032622738247559
+            ],
+            "object_minus_gripper": [
+              0.005139792552404543,
+              0.004726299730204608,
+              0.002478759698403943
+            ],
+            "object_to_gripper_xy": 0.006982505039130681,
+            "object_to_gripper_z": 0.002478759698403943,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3712941726234379,
+              0.23908907754036987,
+              1.0057410335231598
+            ],
+            "finger_b": [
+              0.35999181015410503,
+              0.2638435916721026,
+              1.0057410335231598
+            ],
+            "finger_midpoint": [
+              0.36564299138877143,
+              0.25146633460623624,
+              1.0057410335231598
+            ],
+            "object_minus_finger_midpoint": [
+              0.005651181234666458,
+              0.012377257065866343,
+              0.0
+            ],
+            "finger_gap": 0.02721266924221765,
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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": 1.0057410335231598,
+            "object_top_z": 1.0556623221875236,
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+            "fingertip_min_top_clearance": 0.014976386599309121,
+            "object_projection_between_fingers": 0.8274971891306645,
+            "object_to_finger_line_xy": 0.010281405656267244,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828434205471223,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.331312883839334,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3132758500065287,
+              0.36541221106689137,
+              0.7565864478039208
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+            "gripper_position": [
+              0.32081030481745115,
+              0.3335875240500671,
+              1.0329432637758724
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+            "target_minus_gripper": [
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+              0.03182468701682428,
+              -0.2763568159719516
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+            "held_position": [
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+              0.3385412461731212,
+              1.0353215348362168
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+            "held_minus_target": [
+              0.012513163894085688,
+              -0.026870964893770166,
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+            "held_minus_gripper": [
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+              0.004953722123054116,
+              0.0023782710603443835
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+            "held_xy_dist": 0.029641660293621853,
+            "held_gripper_dist": 0.007415057669612514,
+            "max_held_gripper_dist": 0.007487170479404589,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
+            "held_z": 1.0353215348362168,
+            "required_height": 0.7865864478039208,
+            "gripper_z": 1.0329432637758724,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23414222405226,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.8968304444628882,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.0301899472155975,
+            "max_source_tilt_deg": 89.98426714815385,
+            "source_upright_tilt_deg": 3.592060214356207,
+            "max_source_upright_tilt_deg": 89.67107637880753,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.0301899472155975,
+            "source_upright_return_tilt_deg": 3.592060214356207,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.664001874625056e-08,
+            "max_target_xy_drift": 2.5636927089222153e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3133,
+                0.3654,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.3133,
+                0.3654,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0018,
+                0.0017
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+              "controller_last_pour_pose_position": [
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+                0.342,
+                1.0235
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
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+            "required_stable_lift_frames": 5
+          },
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+          "failure_messages": {},
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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",
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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",
+                "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": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.3339164148627199,
+              -0.3550789504902313,
+              0.8470195505712579
+            ],
+            "target_position": [
+              0.3253498095628496,
+              -0.3571954116674032,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008824178957741156,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18560807502841023,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195505712579,
+            "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": 0.07568231216039545,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516292397232582,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15366253232056915,
+            "release_required_pad_clearance": 0.05258146198616291,
+            "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": 0.22728145481353557,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008247613906860352,
+            "max_z_decrease": 0.008247613906860352,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035022271264716,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008247613906860352,
+            "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": 0.02101119842955643,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008247613906860352,
+            "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": 0.008248238212346753,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18104973435401908,
+              -0.4134568572044372,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18104973435401908,
+              -0.4134568572044372,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17910755183912197,
+              -0.4133669943563958,
+              0.8039864357922608
+            ],
+            "closest_button": [
+              0.1809581667184829,
+              -0.4134634733200073,
+              0.7690132260322571
+            ],
+            "closest_ee_minus_button": [
+              -0.0018506148793609178,
+              9.647896361153485e-05,
+              0.03497320976000373
+            ],
+            "button_min_z_position": [
+              0.18095102906227103,
+              -0.4134332835674286,
+              0.7685612440109253
+            ],
+            "min_active_finger_to_button": 0.1475358774372397,
+            "closest_active_finger": [
+              0.052408404648303986,
+              -0.4769665002822876,
+              0.8109908699989319
+            ],
+            "closest_active_finger_button": [
+              0.18105323612689966,
+              -0.4134641885757446,
+              0.7765699625015259
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12864483147859568,
+              -0.06350231170654302,
+              0.034420907497406006
+            ],
+            "min_contact_pad_to_button": 0.02101119842955643,
+            "closest_contact_pad": [
+              0.18095102906227103,
+              -0.4143726408278571,
+              0.78955143380005
+            ],
+            "closest_contact_pad_button": [
+              0.18095102906227103,
+              -0.4134332835674286,
+              0.7685612440109253
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009393572604284861,
+              0.020990189789124702
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f8a1e853a339883c7a47351584fb685307410719c3069e8d0fc06175ddb471f",
+    "visual_seed": 8978819120212026365,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5ca8ba51f81c240be5c77fc25c24a041c509e72
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_86_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3687738943722809,
+              0.2675296075473514,
+              1.0061674137655612
+            ],
+            "current_z": 1.0061674137655612,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.14506102496008477,
+            "gripper_z": 1.0039606005996053,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3636148069954001,
+              0.26274485912667883,
+              1.0039606005996053
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008173346519470215,
+            "max_z_decrease": 0.008173346519470215,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498958199475736,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008173346519470215,
+            "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": 0.021146556202572015,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008173346519470215,
+            "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": 0.008174049854204677,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1783892959356308,
+              -0.41523218154907227,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1783892959356308,
+              -0.41523218154907227,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1774009146172447,
+              -0.4143456716692936,
+              0.8037658440449486
+            ],
+            "closest_button": [
+              0.1783108115196228,
+              -0.4152193069458008,
+              0.7687990069389343
+            ],
+            "closest_ee_minus_button": [
+              -0.00090989690237811,
+              0.0008736352765071898,
+              0.034966837106014226
+            ],
+            "button_min_z_position": [
+              0.1782824546098709,
+              -0.415223091840744,
+              0.7686355113983154
+            ],
+            "min_active_finger_to_button": 0.14645678409279378,
+            "closest_active_finger": [
+              0.04950174689292908,
+              -0.4754984676837921,
+              0.8083527684211731
+            ],
+            "closest_active_finger_button": [
+              0.17840038239955902,
+              -0.4152398407459259,
+              0.7736594080924988
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12889863550662994,
+              -0.06025862693786621,
+              0.034693360328674316
+            ],
+            "min_contact_pad_to_button": 0.021146556202572015,
+            "closest_contact_pad": [
+              0.1783108115196228,
+              -0.4157081463996413,
+              0.7899399121990434
+            ],
+            "closest_contact_pad_button": [
+              0.1783108115196228,
+              -0.4152193069458008,
+              0.7687990069389343
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004888394538405394,
+              0.021140905260109033
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0bc097b7b6613eea3a4cc1a670433528dadc2eda7a9dc9539cab0fbd297b32a",
+    "visual_seed": 4673329360662571364,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0729861035253b287896a13eb0ea33025b23b916
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_87_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3653467991368487,
+              0.26522234002929373,
+              1.0076722361395691
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+            "current_z": 1.0076722361395691,
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+            "lift_margin": 0.14656548970622385,
+            "gripper_z": 1.005342079604687,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3602211718885806,
+              0.26044267908407714,
+              1.005342079604687
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+              0.005125627248268094,
+              0.004779660945216591,
+              0.0023301565348821107
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+            "object_to_gripper_z": 0.0023301565348821107,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3653467991368487,
+              0.24054286053103643,
+              1.0076722361395691
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+            "finger_b": [
+              0.35386935063108405,
+              0.26522234002929373,
+              1.0076722361395691
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+            "finger_midpoint": [
+              0.3596080748839664,
+              0.25288260028016507,
+              1.0076722361395691
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+              0.005738724252882299,
+              0.012339739749128664,
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+            ],
+            "finger_gap": 0.027217798083375183,
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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": 0.04840066422909679,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4600979115838737,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 183,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565863285946313
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+            "gripper_position": [
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+              0.32560236792197234,
+              1.0332336840686618
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+              0.004790270292573173,
+              0.0022236509786970338
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+            "xy_dist": 0.035654276573877694,
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+            "max_held_gripper_dist": 0.007455421581620865,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
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+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.0332336840686618,
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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"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec6c636218c6e4e7075077e97c020cdca02a973ec474ce76c15b2eafc5a6fcf1",
+    "visual_seed": 7579262907461099942,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d87e0ec7fcac24c8ea9b8af1d6524904214cb02e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_88_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.368375841606832,
+              0.2679498128423957,
+              1.0039776518122894
+            ],
+            "current_z": 1.0039776518122894,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.1428709649835893,
+            "gripper_z": 1.0018173037009568,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36327496652837266,
+              0.26309939107186353,
+              1.0018173037009568
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+              0.004850421770532187,
+              0.0021603481113325884
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+            "object_to_gripper_xy": 0.00703885771401158,
+            "object_to_gripper_z": 0.0021603481113325884,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.368375841606832,
+              0.2434426409388275,
+              1.0039776518122894
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+            "finger_b": [
+              0.3565897812889445,
+              0.2679498128423957,
+              1.0039776518122894
+            ],
+            "finger_midpoint": [
+              0.36248281144788824,
+              0.2556962268906116,
+              1.0039776518122894
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+              0.005893030158943768,
+              0.012253585951784107,
+              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": 0.010621577941072885,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04820253198252182,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3195278706039866,
+              0.3668132182423369,
+              0.756586388199276
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+            "gripper_position": [
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+              0.3340422037080151,
+              1.03026685484374
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+              0.03277101453432185,
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+            "held_position": [
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+              0.33886281212024943,
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+            "held_minus_target": [
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+              0.004820608412234362,
+              0.002061369556157988
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+            "xy_threshold": 0.15,
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+            "gripper_z": 1.03026685484374,
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+            "max_wrist_deg": 120.21488792078199,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_tilt_deg": 89.88660954910598,
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+            "max_source_upright_tilt_deg": 89.66832621785585,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 4.2146848510894035e-08,
+            "max_target_xy_drift": 2.6987150723151616e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.3195,
+                0.3668,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.3668,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0014
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+                0.2,
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6142915487289429
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0904
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.32958831025539626,
+              -0.34931175649422325,
+              0.8470194623450001
+            ],
+            "target_position": [
+              0.32037490386952794,
+              -0.3513091862891038,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009427437775802905,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1894146977616373,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194623450001,
+            "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": 0.07527764417542693,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561484642612126,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1582713690275375,
+            "release_required_pad_clearance": 0.05280742321306063,
+            "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": 0.6608613571212351,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008320748805999756,
+            "max_z_decrease": 0.008320748805999756,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034992761480352026,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008320748805999756,
+            "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": 0.021142411869529584,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008320748805999756,
+            "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": 0.008321375699861461,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17607483267784116,
+              -0.40757063031196594,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17607483267784116,
+              -0.40757063031196594,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1752177267147749,
+              -0.40826413092612773,
+              0.8038357186601179
+            ],
+            "closest_button": [
+              0.17598104476928705,
+              -0.40756282210350037,
+              0.7688583135604858
+            ],
+            "closest_ee_minus_button": [
+              -0.0007633180545121576,
+              -0.0007013088226273667,
+              0.0349774050996321
+            ],
+            "button_min_z_position": [
+              0.17597302794456476,
+              -0.40756234526634216,
+              0.7684881091117859
+            ],
+            "min_active_finger_to_button": 0.1466294068190431,
+            "closest_active_finger": [
+              0.03456961363554001,
+              -0.39097052812576294,
+              0.8074243664741516
+            ],
+            "closest_active_finger_button": [
+              0.17608381807804108,
+              -0.40758466720581055,
+              0.7728139162063599
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14151420444250107,
+              0.016614139080047607,
+              0.03461045026779175
+            ],
+            "min_contact_pad_to_button": 0.021142411869529584,
+            "closest_contact_pad": [
+              0.17598104476928705,
+              -0.4095533929566806,
+              0.7899068101181808
+            ],
+            "closest_contact_pad_button": [
+              0.17598104476928705,
+              -0.40756282210350037,
+              0.7688583135604858
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001990570853180218,
+              0.021048496557694918
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e037cab2c820c36a0699d820143b66f21424fe55ae169d3b1f7500ae2a2e5d92",
+    "visual_seed": 935219415091023956,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63e71b087a473c44da04537ed465d99e5eb9a80d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_89_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3637690381412503,
+              0.2670374793576513,
+              1.0066006628978084
+            ],
+            "current_z": 1.0066006628978084,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1454939164644633,
+            "gripper_z": 1.0048698842120722,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35872242345284133,
+              0.2621361064019335,
+              1.0048698842120722
+            ],
+            "object_minus_gripper": [
+              0.005046614688408946,
+              0.004901372955717798,
+              0.001730778685736123
+            ],
+            "object_to_gripper_xy": 0.007035039208441325,
+            "object_to_gripper_z": 0.001730778685736123,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3637690381412503,
+              0.24273691643502973,
+              1.0066006628978084
+            ],
+            "finger_b": [
+              0.35171194194054933,
+              0.2670374793576513,
+              1.0066006628978084
+            ],
+            "finger_midpoint": [
+              0.3577404900408998,
+              0.2548871978963405,
+              1.0066006628978084
+            ],
+            "object_minus_finger_midpoint": [
+              0.006028548100350473,
+              0.012150281461310808,
+              0.0
+            ],
+            "finger_gap": 0.02712730961870801,
+            "fingertip_max_gap": 0.09153189651626367,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013563654809354017,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0066006628978084,
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008036494255065918,
+            "max_z_decrease": 0.008036494255065918,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500650933778347,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008036494255065918,
+            "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": 0.021338661341513968,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.008036494255065918,
+            "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": 0.008037087810674345,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17738875746726987,
+              -0.40999162197113037,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17738875746726987,
+              -0.40999162197113037,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17733874999109817,
+              -0.4113938932753253,
+              0.8041090616181971
+            ],
+            "closest_button": [
+              0.1772941648960113,
+              -0.40997758507728577,
+              0.7691312432289124
+            ],
+            "closest_ee_minus_button": [
+              4.45850950868687e-05,
+              -0.0014163081980395065,
+              0.03497781838928471
+            ],
+            "button_min_z_position": [
+              0.17729279398918146,
+              -0.40997341275215154,
+              0.7687723636627197
+            ],
+            "min_active_finger_to_button": 0.1457640676165052,
+            "closest_active_finger": [
+              0.03683314472436905,
+              -0.3933643102645874,
+              0.8079758882522583
+            ],
+            "closest_active_finger_button": [
+              0.17740498483180994,
+              -0.41000103950500494,
+              0.7731916904449463
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1405718401074409,
+              0.016636729240417536,
+              0.03478419780731201
+            ],
+            "min_contact_pad_to_button": 0.021338661341513968,
+            "closest_contact_pad": [
+              0.17729279398918146,
+              -0.41273851643545223,
+              0.7899311129043082
+            ],
+            "closest_contact_pad_button": [
+              0.17729279398918146,
+              -0.40997341275215154,
+              0.7687723636627197
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002765103683300685,
+              0.021158749241588448
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0242ebfc961383eceb1a17dffe8718fdcd76ca04aa4506eaa1b560f0d4e52c45",
+    "visual_seed": 9156335099061447743,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a924dcafb1681eb13e04a3303f48fb6f307028a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_8_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3695285889743074,
+              0.26559333124361717,
+              1.0069151857824412
+            ],
+            "current_z": 1.0069151857824412,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14580867776767537,
+            "gripper_z": 1.005046606783648,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3646414440854573,
+              0.2607807337850869,
+              1.005046606783648
+            ],
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+              0.0048871448888501146,
+              0.004812597458530243,
+              0.0018685789987931134
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+            "object_to_gripper_xy": 0.006858956149624049,
+            "object_to_gripper_z": 0.0018685789987931134,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3695285889743074,
+              0.24139539381237995,
+              1.0069151857824412
+            ],
+            "finger_b": [
+              0.3576133185440712,
+              0.26559333124361717,
+              1.0069151857824412
+            ],
+            "finger_midpoint": [
+              0.3635709537591893,
+              0.25349436252799856,
+              1.0069151857824412
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012098968715618608,
+              0.0
+            ],
+            "finger_gap": 0.02697246457689272,
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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": 1.0571457103948592,
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+            "object_to_finger_line_xy": 0.01068960411552956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858377571423324,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5013561372215578,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3309957549799526,
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+            "held_minus_gripper": [
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+              0.004797580853234451,
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+            "xy_dist": 0.035041022800336455,
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+            "held_gripper_dist": 0.007112703807127255,
+            "max_held_gripper_dist": 0.007161821204102895,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7865863881992758,
+            "gripper_z": 1.0310345900634514,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23367094099953,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 1.0757915109625307,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.3712908625556772,
+            "max_source_tilt_deg": 89.57217485635742,
+            "source_upright_tilt_deg": 2.034505761670313,
+            "max_source_upright_tilt_deg": 89.75847676648772,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
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+              "allowed": [],
+              "ignored": [],
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+            },
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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": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e45575f1a09420ce0f97bee2dffb0ca13e2823f534173a5b8f0d9dc5294bdc2d",
+    "visual_seed": 7912091943865196717,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..47114ed81253c331b984d6f6753f730800e337ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_91_success.json
@@ -0,0 +1,1689 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+              0.27214109551991,
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+              0.004872686000065296,
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+              0.24776610911824531,
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+            "stable_success_frames": 180,
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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_a"
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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": [],
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+              "skill": "pour",
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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",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.3347272937632884,
+              -0.3588229736751503,
+              0.8470197408691917
+            ],
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+              0.3277975023796097,
+              -0.3604420520545293,
+              0.8084375599031817
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18546856471330112,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197408691917,
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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": 0.15451443453481778,
+            "release_required_pad_clearance": 0.0538498901932581,
+            "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": 2.7090161371246415,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008517563343048096,
+            "max_z_decrease": 0.008517563343048096,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505130489292959,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008517563343048096,
+            "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": 0.021125791480794187,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008517563343048096,
+            "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": 0.008517998880382458,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18349742889404294,
+              -0.4167035222053527,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18349742889404294,
+              -0.4167035222053527,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18349270922702166,
+              -0.4143921134026304,
+              0.803268299208803
+            ],
+            "closest_button": [
+              0.1834173053503036,
+              -0.4166719019412993,
+              0.7682912945747375
+            ],
+            "closest_ee_minus_button": [
+              7.540387671806092e-05,
+              0.0022797885386689476,
+              0.0349770046340655
+            ],
+            "button_min_z_position": [
+              0.1834173053503036,
+              -0.4166719019412993,
+              0.7682912945747375
+            ],
+            "min_active_finger_to_button": 0.14500308638595696,
+            "closest_active_finger": [
+              0.056347377598285675,
+              -0.47713327407836914,
+              0.8080365657806396
+            ],
+            "closest_active_finger_button": [
+              0.1835073828697204,
+              -0.41671019792556757,
+              0.7733194231987
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12716000527143473,
+              -0.06042307615280157,
+              0.0347171425819397
+            ],
+            "min_contact_pad_to_button": 0.021125791480794187,
+            "closest_contact_pad": [
+              0.1834173053503036,
+              -0.4166719019412993,
+              0.7894170860555317
+            ],
+            "closest_contact_pad_button": [
+              0.1834173053503036,
+              -0.4166719019412993,
+              0.7682912945747375
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021125791480794187
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "488b9b24dafe43978c3906695ae5aa4a80988b6bdb21c528f786b5a9404c72a3",
+    "visual_seed": 530215658699392243,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..151a36db36b3de7996deda93ad163ec9f266d637
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_92_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.36655313853231636,
+              0.2709708087409348,
+              1.0055758617626638
+            ],
+            "current_z": 1.0055758617626638,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.14446947295718737,
+            "gripper_z": 1.003431690308726,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36144088514511674,
+              0.26622773334376676,
+              1.003431690308726
+            ],
+            "object_minus_gripper": [
+              0.005112253387199617,
+              0.004743075397168062,
+              0.00214417145393786
+            ],
+            "object_to_gripper_xy": 0.006973657499343864,
+            "object_to_gripper_z": 0.00214417145393786,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36655313853231636,
+              0.24624215856749462,
+              1.0055758617626638
+            ],
+            "finger_b": [
+              0.355198482814781,
+              0.2709708087409348,
+              1.0055758617626638
+            ],
+            "finger_midpoint": [
+              0.3608758106735487,
+              0.25860648365421474,
+              1.0055758617626638
+            ],
+            "object_minus_finger_midpoint": [
+              0.005677327858767678,
+              0.012364325086720085,
+              0.0
+            ],
+            "finger_gap": 0.027210923282096514,
+            "fingertip_max_gap": 0.09198572583927309,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013605461641048247,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0055758617626638,
+            "object_top_z": 1.055531897410252,
+            "finger_top_clearance": 0.049956035647588326,
+            "fingertip_min_top_clearance": 0.01498681069427648,
+            "object_projection_between_fingers": 0.825874897370827,
+            "object_to_finger_line_xy": 0.010318845346329262,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048492862919636545,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.456208855483406,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021076063604827177,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00836247205734253,
+            "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": 0.008362759393356898,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17765632271766663,
+              -0.4158597588539123,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17765632271766663,
+              -0.4158597588539123,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17728154630403298,
+              -0.4154512154518902,
+              0.8034416054328842
+            ],
+            "closest_button": [
+              0.17758725583553314,
+              -0.41585379838943476,
+              0.7684463858604431
+            ],
+            "closest_ee_minus_button": [
+              -0.00030570953150016456,
+              0.0004025829375445822,
+              0.034995219572441116
+            ],
+            "button_min_z_position": [
+              0.17758725583553314,
+              -0.41585379838943476,
+              0.7684463858604431
+            ],
+            "min_active_finger_to_button": 0.1460632819562496,
+            "closest_active_finger": [
+              0.04980645328760147,
+              -0.4774572253227234,
+              0.8091897368431091
+            ],
+            "closest_active_finger_button": [
+              0.1776597499847412,
+              -0.41586604714393605,
+              0.7746275663375854
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12785329669713974,
+              -0.06159117817878734,
+              0.03456217050552368
+            ],
+            "min_contact_pad_to_button": 0.021076063604827177,
+            "closest_contact_pad": [
+              0.17758725583553314,
+              -0.41672775200195383,
+              0.789504321707954
+            ],
+            "closest_contact_pad_button": [
+              0.17758725583553314,
+              -0.41585379838943476,
+              0.7684463858604431
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008739536125190739,
+              0.021057935847510922
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "432fd8ddd697a181ee4a44bc4855ae54db888d15f0983eb45ca38d0d96c51214",
+    "visual_seed": 2932975846255944468,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4114453d2a6690fd1e694d91c8812d5603890d30
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_93_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37169663232054323,
+              0.2704031679643385,
+              1.0053997793582279
+            ],
+            "current_z": 1.0053997793582279,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.14429321173881726,
+            "gripper_z": 1.0030456606456395,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3666947864559925,
+              0.26558083363368223,
+              1.0030456606456395
+            ],
+            "object_minus_gripper": [
+              0.0050018458645507136,
+              0.004822334330656264,
+              0.0023541187125883933
+            ],
+            "object_to_gripper_xy": 0.006947904032825228,
+            "object_to_gripper_z": 0.0023541187125883933,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37169663232054323,
+              0.24614605412250065,
+              1.0053997793582279
+            ],
+            "finger_b": [
+              0.35970423955840763,
+              0.2704031679643385,
+              1.0053997793582279
+            ],
+            "finger_midpoint": [
+              0.36570043593947543,
+              0.2582746110434196,
+              1.0053997793582279
+            ],
+            "object_minus_finger_midpoint": [
+              0.005996196381067798,
+              0.01212855692091891,
+              0.0
+            ],
+            "finger_gap": 0.027059657353654783,
+            "fingertip_max_gap": 0.09181851738149424,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01352982867682738,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0053997793582279,
+            "object_top_z": 1.0555651131262764,
+            "finger_top_clearance": 0.05016533376804855,
+            "fingertip_min_top_clearance": 0.015049600130414547,
+            "object_projection_between_fingers": 0.8035884145676786,
+            "object_to_finger_line_xy": 0.010750351812118027,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840925869074712,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3625986445403497,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31596834082264513,
+              0.3695759531323211,
+              0.7565865074085656
+            ],
+            "gripper_position": [
+              0.3233921807258862,
+              0.3347178719177064,
+              1.0300271829355716
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+            "target_minus_gripper": [
+              -0.007423839903241081,
+              0.0348580812146147,
+              -0.273440675527006
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+            "held_position": [
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+              0.339576170729033,
+              1.0322867236888547
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+            "held_minus_target": [
+              0.012442342117669314,
+              -0.0299997824032881,
+              0.27570021628028907
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+            "held_minus_gripper": [
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+              0.0048582988113266,
+              0.0022595407532830514
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+            "xy_dist": 0.03563985444518017,
+            "held_xy_dist": 0.03247766650511952,
+            "held_gripper_dist": 0.0073412503180388475,
+            "max_held_gripper_dist": 0.0074166525115540605,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565865074085656,
+            "held_z": 1.0322867236888547,
+            "required_height": 0.7865865074085656,
+            "gripper_z": 1.0300271829355716,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.19370750416579,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.8235966973177185,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.1979196354087134,
+            "max_source_tilt_deg": 89.97611173163605,
+            "source_upright_tilt_deg": 2.003061214679055,
+            "max_source_upright_tilt_deg": 89.66007830931632,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.1979196354087134,
+            "source_upright_return_tilt_deg": 2.003061214679055,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.2146848510894035e-08,
+            "max_target_xy_drift": 2.4027400458748785e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.316,
+                0.3696,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.316,
+                0.3696,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0007,
+                -0.0018,
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+                "ridgebase_fr3",
+                "ridgebase_rizon4",
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+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
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+                "visuals",
+                "wrist",
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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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+      "skill": "place",
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+      "reason": "executed",
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+          "target": "heater_platform",
+          "passed": true,
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+              0.8084375599031817
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+            "require_object_upright": true,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "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,
+            "min_ee_to_button": 0.03504517945474752,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008296847343444824,
+            "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": 0.021219701051600648,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008296847343444824,
+            "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": 0.008297575149341417,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18438751995563507,
+              -0.41241639852523804,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18438751995563507,
+              -0.41241639852523804,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18462895055041148,
+              -0.4102334100048926,
+              0.8038521740656738
+            ],
+            "closest_button": [
+              0.1842675805091858,
+              -0.412399023771286,
+              0.7688758373260498
+            ],
+            "closest_ee_minus_button": [
+              0.0003613700412256893,
+              0.002165613766393404,
+              0.03497633673962397
+            ],
+            "button_min_z_position": [
+              0.18428124487400055,
+              -0.412388414144516,
+              0.7685120105743408
+            ],
+            "min_active_finger_to_button": 0.14486435588871022,
+            "closest_active_finger": [
+              0.0573405846953392,
+              -0.47264525294303894,
+              0.8095013499259949
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+            "closest_active_finger_button": [
+              0.18440108001232147,
+              -0.4124232828617096,
+              0.7746498584747314
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.060221970081329346,
+              0.03485149145126343
+            ],
+            "min_contact_pad_to_button": 0.021219701051600648,
+            "closest_contact_pad": [
+              0.1842675805091858,
+              -0.412399023771286,
+              0.7900955383776505
+            ],
+            "closest_contact_pad_button": [
+              0.1842675805091858,
+              -0.412399023771286,
+              0.7688758373260498
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021219701051600648
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f5ef95463728eeae5187f09a97edbaf09385fe7dd950e7f59d434b194253b63",
+    "visual_seed": 5257300314365842104,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..916ec24c4bc0d6a8427cd28bf5bda965210786fc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_94_success.json
@@ -0,0 +1,1695 @@
+{
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751361660988214,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857555878069343,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15695128217281654,
+            "release_required_pad_clearance": 0.052877793903467155,
+            "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": 0.7962253540883466,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 160,
+            "max_placed_release_frames": 160
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008186101913452148,
+            "max_z_decrease": 0.008186101913452148,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035011126315020756,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008186101913452148,
+            "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": 0.021037018344539617,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008186101913452148,
+            "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": 0.008186528802470422,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18181458115577692,
+              -0.409576416015625,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18181458115577692,
+              -0.409576416015625,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18128497846017838,
+              -0.4087468915694228,
+              0.8036210141401983
+            ],
+            "closest_button": [
+              0.18173137307167048,
+              -0.40958452224731445,
+              0.7686227560043335
+            ],
+            "closest_ee_minus_button": [
+              -0.0004463946114920958,
+              0.0008376306778916653,
+              0.03499825813586477
+            ],
+            "button_min_z_position": [
+              0.18173137307167048,
+              -0.40958452224731445,
+              0.7686227560043335
+            ],
+            "min_active_finger_to_button": 0.14598348841597014,
+            "closest_active_finger": [
+              0.05472445487976074,
+              -0.47256550192832947,
+              0.8105234503746033
+            ],
+            "closest_active_finger_button": [
+              0.1818228811025619,
+              -0.40958505868911743,
+              0.7760179042816162
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12709842622280115,
+              -0.06298044323921204,
+              0.03450554609298706
+            ],
+            "min_contact_pad_to_button": 0.021037018344539617,
+            "closest_contact_pad": [
+              0.18173137307167048,
+              -0.4098416361458188,
+              0.7896582030704572
+            ],
+            "closest_contact_pad_button": [
+              0.18173137307167048,
+              -0.40958452224731445,
+              0.7686227560043335
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002571138985043575,
+              0.021035447066123703
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d58cbb6108047122735b68730742a249311d8514bc59ffcd897bd322029c5db",
+    "visual_seed": 4698138440481605077,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..883abab9357ce8271e0cf6a31c4f6df7e05ec5b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_95_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36937152505267046,
+              0.27082825553825784,
+              1.004640056289225
+            ],
+            "current_z": 1.004640056289225,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1435334886698142,
+            "gripper_z": 1.002572269962542,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3643514607446279,
+              0.26610816189354725,
+              1.002572269962542
+            ],
+            "object_minus_gripper": [
+              0.005020064308042582,
+              0.004720093644710599,
+              0.002067786326683141
+            ],
+            "object_to_gripper_xy": 0.00689059719267644,
+            "object_to_gripper_z": 0.002067786326683141,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36937152505267046,
+              0.24621962564141217,
+              1.004640056289225
+            ],
+            "finger_b": [
+              0.35798802222476783,
+              0.27082825553825784,
+              1.004640056289225
+            ],
+            "finger_midpoint": [
+              0.3636797736387192,
+              0.258523940589835,
+              1.004640056289225
+            ],
+            "object_minus_finger_midpoint": [
+              0.005691751413951285,
+              0.012304314948422823,
+              0.0
+            ],
+            "finger_gap": 0.02711399642311686,
+            "fingertip_max_gap": 0.0915595033905631,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013556998211558405,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.004640056289225,
+            "object_top_z": 1.0545706243787378,
+            "finger_top_clearance": 0.049930568089512795,
+            "fingertip_min_top_clearance": 0.014979170426853837,
+            "object_projection_between_fingers": 0.8237355335610573,
+            "object_to_finger_line_xy": 0.01033165320412587,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827975169528155,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2415195385828244,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+            "min_active_finger_to_button": 0.14613483278612163,
+            "closest_active_finger": [
+              0.0334828644990921,
+              -0.3998483419418335,
+              0.8104931116104126
+            ],
+            "closest_active_finger_button": [
+              0.17479249835014343,
+              -0.4142441749572754,
+              0.7761458158493042
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14130963385105133,
+              0.014395833015441895,
+              0.0343472957611084
+            ],
+            "min_contact_pad_to_button": 0.02096920122786836,
+            "closest_contact_pad": [
+              0.17471638321876526,
+              -0.41566427882326235,
+              0.7892561355703689
+            ],
+            "closest_contact_pad_button": [
+              0.17471638321876526,
+              -0.41422632336616516,
+              0.768336296081543
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014379554570971842,
+              0.02091983948882592
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fd992601b071f3f38d96705dcbb129241dafa754a4688ed7af979459cd90cc16",
+    "visual_seed": 8706300203185494530,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65b238431f10c88d2ec236d28b069a44d2671f57
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_96_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3646166276106538,
+              0.2732809364693382,
+              1.0042992800434982
+            ],
+            "current_z": 1.0042992800434982,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.14319289123802204,
+            "gripper_z": 1.002133283734415,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.359581476505212,
+              0.2685867783382048,
+              1.002133283734415
+            ],
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+              0.005035151105441782,
+              0.004694158131133386,
+              0.002165996309083207
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+            "object_to_gripper_xy": 0.0068838846020773245,
+            "object_to_gripper_z": 0.002165996309083207,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3646166276106538,
+              0.2485990155017079,
+              1.0042992800434982
+            ],
+            "finger_b": [
+              0.3533523875337251,
+              0.2732809364693382,
+              1.0042992800434982
+            ],
+            "finger_midpoint": [
+              0.35898450757218947,
+              0.26093997598552304,
+              1.0042992800434982
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056321200384643055,
+              0.012340960483815167,
+              0.0
+            ],
+            "finger_gap": 0.02713080034136543,
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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": 1.0042992800434982,
+            "object_top_z": 1.0542495022766039,
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+            "object_to_finger_line_xy": 0.01024750762384532,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826721596782947,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1446644304889686,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3157889010395488,
+              0.3647209760014311,
+              0.7565863285946313
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+            "gripper_position": [
+              0.3193211993186333,
+              0.3338149378450985,
+              1.030562139752585
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+              0.030906038156332583,
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+            "held_position": [
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+              0.33869277549112214,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.0048778376460236195,
+              0.002115711354885752
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+            "held_gripper_dist": 0.007225858334278475,
+            "max_held_gripper_dist": 0.00728674344513279,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
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+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.030562139752585,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22009252492954,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 0.6688313320380024,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.7875853482721453,
+            "max_source_tilt_deg": 89.72839814654542,
+            "source_upright_tilt_deg": 3.1982482422584986,
+            "max_source_upright_tilt_deg": 89.80663557550116,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.7875853482721453,
+            "source_upright_return_tilt_deg": 3.1982482422584986,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.7881393432617188e-07,
+            "max_target_xy_drift": 9.702933189928356e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                0.3647,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.3647,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0002,
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+              "controller_last_pour_pose_position": [
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+                1.0207
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              "height_range_2": [
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+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
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+              0.0,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_a"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_a"
+              }
+            ],
+            "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": 4,
+      "skill": "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": [
+              0.33154873861453993,
+              -0.3501985960693208,
+              0.8470191172041104
+            ],
+            "target_position": [
+              0.3254410562921611,
+              -0.35099671641366553,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006159608707958327,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18636454121114313,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191172041104,
+            "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": 0.07573487684479822,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496739078304098,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15387889295008333,
+            "release_required_pad_clearance": 0.05248369539152049,
+            "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": 0.039542181423208686,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00818401575088501,
+            "max_z_decrease": 0.00818401575088501,
+            "final_z_decrease": -5.960464477539063e-08,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503464545708602,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00818401575088501,
+            "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": 0.02111364347451917,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00818401575088501,
+            "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": 0.008184294793867104,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1811409890651703,
+              -0.4072581827640533,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1811409890651703,
+              -0.4072581827640533,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.17998058927329008,
+              -0.40877257004015166,
+              0.8037612574607125
+            ],
+            "closest_button": [
+              0.18106968700885773,
+              -0.40726941823959345,
+              0.7687758207321167
+            ],
+            "closest_ee_minus_button": [
+              -0.0010890977355676457,
+              -0.0015031518005582112,
+              0.034985436728595776
+            ],
+            "button_min_z_position": [
+              0.18107376992702487,
+              -0.4072651863098144,
+              0.7686248421669006
+            ],
+            "min_active_finger_to_button": 0.1468560606083637,
+            "closest_active_finger": [
+              0.03894812613725662,
+              -0.3946039378643036,
+              0.8104121088981628
+            ],
+            "closest_active_finger_button": [
+              0.18114642798900604,
+              -0.40726745128631586,
+              0.7759740352630615
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14219830185174942,
+              0.012663513422012274,
+              0.03443807363510132
+            ],
+            "min_contact_pad_to_button": 0.02111364347451917,
+            "closest_contact_pad": [
+              0.18107376992702487,
+              -0.4097755691404714,
+              0.7895887139183841
+            ],
+            "closest_contact_pad_button": [
+              0.18107376992702487,
+              -0.4072651863098144,
+              0.7686248421669006
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002510382830657021,
+              0.02096387175148351
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a989b9b6e1a83ee9abc5a6e203e487145737984a1075ea74f661c12abd22e94b",
+    "visual_seed": 2765198796144947132,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2789969585129ffc29e1ec05a386c39771809f85
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_97_success.json
@@ -0,0 +1,1695 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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+            "release_min_pad_clearance": 0.1547160113254622,
+            "release_required_pad_clearance": 0.05304983552290417,
+            "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": 1.1288117509399218,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008312046527862549,
+            "max_z_decrease": 0.008312046527862549,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350141627434494,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008312046527862549,
+            "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": 0.020954373592558296,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.008312046527862549,
+            "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": 0.008312291044990492,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17897297441959376,
+              -0.4149622917175293,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17897297441959376,
+              -0.4149622917175293,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17903764960094273,
+              -0.4140728123534403,
+              0.8034997054331786
+            ],
+            "closest_button": [
+              0.17891007661819452,
+              -0.4149518609046936,
+              0.7684968113899231
+            ],
+            "closest_ee_minus_button": [
+              0.0001275729827482086,
+              0.0008790485512533142,
+              0.03500289404325552
+            ],
+            "button_min_z_position": [
+              0.17891007661819452,
+              -0.4149518609046936,
+              0.7684968113899231
+            ],
+            "min_active_finger_to_button": 0.1453802628779431,
+            "closest_active_finger": [
+              0.053009793162345886,
+              -0.47892844676971436,
+              0.8108500242233276
+            ],
+            "closest_active_finger_button": [
+              0.17897619307041163,
+              -0.4149675667285919,
+              0.7765441536903381
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12596639990806574,
+              -0.06396088004112244,
+              0.0343058705329895
+            ],
+            "min_contact_pad_to_button": 0.020954373592558296,
+            "closest_contact_pad": [
+              0.17891007661819452,
+              -0.41506013121148644,
+              0.7894509052667094
+            ],
+            "closest_contact_pad_button": [
+              0.17891007661819452,
+              -0.4149518609046936,
+              0.7684968113899231
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00010827030679283478,
+              0.02095409387678626
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "71b7c5e6bf4389ba8363a352a1dd9b7f30a2a62d30d8591f1aa895766726f0b6",
+    "visual_seed": 4074505687152115696,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba586b4be78783d41461ae8cfc546ffac698e63
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_98_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3696182946034396,
+              0.26890858562610076,
+              1.0063238665948242
+            ],
+            "current_z": 1.0063238665948242,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14521741818470302,
+            "gripper_z": 1.0039036592186843,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3645203241418906,
+              0.2640533415997412,
+              1.0039036592186843
+            ],
+            "object_minus_gripper": [
+              0.005097970461548973,
+              0.004855244026359562,
+              0.0024202073761399046
+            ],
+            "object_to_gripper_xy": 0.007040077938654235,
+            "object_to_gripper_z": 0.0024202073761399046,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3696182946034396,
+              0.24444795876217193,
+              1.0063238665948242
+            ],
+            "finger_b": [
+              0.35778215252914874,
+              0.26890858562610076,
+              1.0063238665948242
+            ],
+            "finger_midpoint": [
+              0.36370022356629417,
+              0.25667827219413636,
+              1.0063238665948242
+            ],
+            "object_minus_finger_midpoint": [
+              0.005918071037145423,
+              0.012230313431964401,
+              0.0
+            ],
+            "finger_gap": 0.027173820595918323,
+            "fingertip_max_gap": 0.0913375814618976,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013586910297959148,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0063238665948242,
+            "object_top_z": 1.0562039101957859,
+            "finger_top_clearance": 0.049880043600961654,
+            "fingertip_min_top_clearance": 0.014964013080288479,
+            "object_projection_between_fingers": 0.810277459520594,
+            "object_to_finger_line_xy": 0.010654352183040623,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048168790730948804,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1608374983249339,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 182,
+            "max_stable_success_frames": 182,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e48cffb8a26c7148692fbbc9b67fe4235140e988582c08f5a1c9bcb0af909181",
+    "visual_seed": 2439918498002707133,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..72fec4a783331708aea8c2d22dbf3120be738a46
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_99_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.370473421978971,
+              0.2673001636721356,
+              1.0053830101685617
+            ],
+            "current_z": 1.0053830101685617,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1442765617584406,
+            "gripper_z": 1.0028467934331353,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3655390399294174,
+              0.2625084418777919,
+              1.0028467934331353
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+              0.0047917217943437285,
+              0.0025362167354263665
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+            "object_to_gripper_xy": 0.006878133755994096,
+            "object_to_gripper_z": 0.0025362167354263665,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.370473421978971,
+              0.2429857708014975,
+              1.0053830101685617
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+            "finger_b": [
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+              0.2673001636721356,
+              1.0053830101685617
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+            "finger_midpoint": [
+              0.3645826014038728,
+              0.25514296723681656,
+              1.0053830101685617
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+              0.00589082057509821,
+              0.01215719643531904,
+              0.0
+            ],
+            "finger_gap": 0.02701845237721325,
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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": 0.04827309893811842,
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+            "object_tilt_deg": 1.3820618041412744,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 181,
+            "max_stable_success_frames": 181,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.36662349665801686,
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+              0.3329733806515125,
+              1.0322547009596985
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+            "held_minus_target": [
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+              0.004870735670915394,
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+            "missing_active_wrist_index": false,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_upright_tilt_deg": 2.4724336459994496,
+            "max_source_upright_tilt_deg": 89.8465441788224,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 4.2146848510894035e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                0.3666,
+                0.7566
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+              "controller_target_position": [
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+                0.3666,
+                0.7566
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+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6146959066390991
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0223
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+                "fr3_joint7",
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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",
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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": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.3253562198116219,
+              -0.3521219950180973,
+              0.8470195910075514
+            ],
+            "target_position": [
+              0.31954377749582413,
+              -0.35270470664040443,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005841578426183123,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18574985665026772,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195910075514,
+            "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": 0.07523433313515224,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08811828277968418,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1546499084893263,
+            "release_required_pad_clearance": 0.054059141389842094,
+            "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": 3.130461364074318,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008367061614990234,
+            "max_z_decrease": 0.008367061614990234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034990917411423926,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008367061614990234,
+            "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": 0.021009366822373917,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008367061614990234,
+            "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": 0.008367789741010776,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17524370551109314,
+              -0.40896615386009216,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17524370551109314,
+              -0.40896615386009216,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17527946105770012,
+              -0.40943563756484025,
+              0.8038000849783556
+            ],
+            "closest_button": [
+              0.1751408576965332,
+              -0.40895265340805054,
+              0.7688127756118774
+            ],
+            "closest_ee_minus_button": [
+              0.00013860336116691685,
+              -0.00048298415678971196,
+              0.0349873093664782
+            ],
+            "button_min_z_position": [
+              0.17513389885425568,
+              -0.4089548587799072,
+              0.7684417963027954
+            ],
+            "min_active_finger_to_button": 0.14575547854158524,
+            "closest_active_finger": [
+              0.03435099124908447,
+              -0.3944796621799469,
+              0.8112122416496277
+            ],
+            "closest_active_finger_button": [
+              0.1752444505691528,
+              -0.4089736342430115,
+              0.776808500289917
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14089345932006833,
+              0.014493972063064575,
+              0.03440374135971069
+            ],
+            "min_contact_pad_to_button": 0.021009366822373917,
+            "closest_contact_pad": [
+              0.1751408576965332,
+              -0.41050758996267966,
+              0.7897645217583957
+            ],
+            "closest_contact_pad_button": [
+              0.1751408576965332,
+              -0.40895265340805054,
+              0.7688127756118774
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015549365546291272,
+              0.02095174614651829
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "d8c4a7a6049e9ddf6d57c981a4200927e96baf205c78d1c16e6ee727e31d8ad2",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a937f8aa0016d8d7830daf2b165845980ca0566b04638a22d9a30b3029d78b60",
+    "visual_seed": 8613767186553557673,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "af70507cf217d3c9ef552058d1a6f0de5f6d831f61e4dab17ebd6aeb10849a72"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb73637143868232384b48f8cac989a7510e8cba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00053/results/episode_9_success.json
@@ -0,0 +1,1701 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3641674829510172,
+              0.26437455076133654,
+              1.005303753717908
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+            "current_z": 1.005303753717908,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14419718609849708,
+            "gripper_z": 1.0039827755561062,
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+            "gripper_position": [
+              0.35907315785966964,
+              0.2596033905898699,
+              1.0039827755561062
+            ],
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+              0.005094325091347551,
+              0.004771160171466615,
+              0.0013209781618017669
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+            "object_to_gripper_xy": 0.006979693225215746,
+            "object_to_gripper_z": 0.0013209781618017669,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3641674829510172,
+              0.2397109925241909,
+              1.005303753717908
+            ],
+            "finger_b": [
+              0.3527220507890376,
+              0.26437455076133654,
+              1.005303753717908
+            ],
+            "finger_midpoint": [
+              0.3584447668700274,
+              0.25204277164276373,
+              1.005303753717908
+            ],
+            "object_minus_finger_midpoint": [
+              0.005722716080989787,
+              0.012331779118572805,
+              0.0
+            ],
+            "finger_gap": 0.027189869846903476,
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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": 1.005303753717908,
+            "object_top_z": 1.0552899888105491,
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+            "fingertip_min_top_clearance": 0.01499587052779238,
+            "object_projection_between_fingers": 0.8228055423189886,
+            "object_to_finger_line_xy": 0.010381994627621642,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048214721851041906,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+}
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1737c9c873462c3f9854fcaf853e8691b8baad4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9214de73a0064ce3209a9738cd709fa30c6dc1cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/resolved_config.yaml
@@ -0,0 +1,318 @@
+name: lab3_heat_2beaker_s06_polplr_htf_00054
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Pour beaker a into beaker b and
+    return it upright. Place beaker a at home. Pick up beaker b from home. Place beaker
+    b on the heater platform. Press the heater button to start heating.
+  layout_id: layout_00054
+  reproducibility:
+    enabled: true
+    layout_id: layout_00054
+    action_seed: 8865105015247510022
+    step_seeds:
+    - 9092373221738194413
+    - 5718852617331806488
+    - 5334696411964519894
+    - 8360605087653114312
+    - 6675749095117627503
+    - 1590574080683186716
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3167
+      - 0.3167
+      'y':
+      - -0.0592
+      - -0.0592
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2183
+      - 0.2183
+      'y':
+      - 0.2672
+      - 0.2672
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3565
+      - 0.3565
+      'y':
+      - 0.1659
+      - 0.1659
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2181
+      - 0.2181
+      'y':
+      - -0.3554
+      - -0.3554
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_a
+    target_key: beaker_a_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - 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: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054
+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_s06_polplr_htf_00054/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..248a7b41081e80963d8e3b9fe784222cd1363f4f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_0_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.339136292386387,
+              -0.05279936955891924,
+              1.0012526465076643
+            ],
+            "current_z": 1.0012526465076643,
+            "required_z": 0.8611066074005064,
+            "initial_z": 0.7611066074005064,
+            "lift_margin": 0.14014603910715795,
+            "gripper_z": 1.0026792843493375,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33452667623641813,
+              -0.0573093328844108,
+              1.0026792843493375
+            ],
+            "object_minus_gripper": [
+              0.004609616149968854,
+              0.004509963325491556,
+              -0.001426637841673184
+            ],
+            "object_to_gripper_xy": 0.0064489014760137665,
+            "object_to_gripper_z": -0.001426637841673184,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.339136292386387,
+              -0.0771279413414566,
+              1.0012526465076643
+            ],
+            "finger_b": [
+              0.3281052268346325,
+              -0.05279936955891924,
+              1.0012526465076643
+            ],
+            "finger_midpoint": [
+              0.33362075961050974,
+              -0.06496365545018792,
+              1.0012526465076643
+            ],
+            "object_minus_finger_midpoint": [
+              0.005515532775877241,
+              0.01216428589126868,
+              0.0
+            ],
+            "finger_gap": 0.02671261522549182,
+            "fingertip_max_gap": 0.09240925861471741,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01335630761274591,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0012526465076643,
+            "object_top_z": 1.0511942461043786,
+            "finger_top_clearance": 0.04994159959671429,
+            "fingertip_min_top_clearance": 0.014982479879014287,
+            "object_projection_between_fingers": 0.829469481034268,
+            "object_to_finger_line_xy": 0.0100465666820083,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870462930735871,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.261377730650985,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.24135156590599627,
+              0.2700637635056273,
+              0.756586388199276
+            ],
+            "gripper_position": [
+              0.2488763839050996,
+              0.236209341865921,
+              1.0310690714078157
+            ],
+            "target_minus_gripper": [
+              -0.007524817999103345,
+              0.033854421639706284,
+              -0.27448268320853964
+            ],
+            "held_position": [
+              0.25349525081187424,
+              0.24068090318888338,
+              1.0295895844878558
+            ],
+            "held_minus_target": [
+              0.012143684905877972,
+              -0.029382860316743892,
+              0.2730031962885797
+            ],
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+              0.004471561322962392,
+              -0.0014794869199599159
+            ],
+            "xy_dist": 0.03468061058399409,
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+            "held_gripper_dist": 0.00659679268386111,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
+            "held_z": 1.0295895844878558,
+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0310690714078157,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.11809047986458,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 2.747882679242731,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.0260550637285686,
+            "max_source_tilt_deg": 89.83367168470218,
+            "source_upright_tilt_deg": 3.071484576832842,
+            "max_source_upright_tilt_deg": 89.9381793553945,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0260550637285686,
+            "source_upright_return_tilt_deg": 3.071484576832842,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.4901161193847656e-07,
+            "max_target_xy_drift": 6.597025281542139e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2414,
+                0.2701,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2414,
+                0.2701,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0001,
+                -0.0008,
+                0.001
+              ],
+              "controller_last_pour_pose_position": [
+                0.2413,
+                0.244,
+                1.0228
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0649,
+                0.0603,
+                0.0904
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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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",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "joint1",
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+                "left_inner_finger",
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+                "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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+                "defaultgroundplane",
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+                "table",
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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/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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+      },
+      "physical_semantics": {
+        "skill": "pick",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.28318291334085977,
+              -0.3541076672515229,
+              0.847019530912032
+            ],
+            "target_position": [
+              0.27589547754891897,
+              -0.3536300262552253,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007303072048323496,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18676577760693674,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019530912032,
+            "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": 0.07565777095231492,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850553440729394,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1543113655241684,
+            "release_required_pad_clearance": 0.0525276720364697,
+            "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": 0.12511446440749394,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00768512487411499,
+            "max_z_decrease": 0.00768512487411499,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509350734013905,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00768512487411499,
+            "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": 0.021000557067597958,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00768512487411499,
+            "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": 0.00768550745652859,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1315954029560089,
+              -0.4098914861679077,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1315954029560089,
+              -0.4098914861679077,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13107378180377305,
+              -0.408411217846381,
+              0.8046139103435889
+            ],
+            "closest_button": [
+              0.13150294125080106,
+              -0.40989840030670166,
+              0.7695545554161072
+            ],
+            "closest_ee_minus_button": [
+              -0.00042915944702801023,
+              0.0014871824603206463,
+              0.03505935492748169
+            ],
+            "button_min_z_position": [
+              0.13151873648166654,
+              -0.4098931550979614,
+              0.7691237330436707
+            ],
+            "min_active_finger_to_button": 0.1456292762807337,
+            "closest_active_finger": [
+              0.0031398162245750427,
+              -0.46938320994377136,
+              0.8108497858047485
+            ],
+            "closest_active_finger_button": [
+              0.13158969581127167,
+              -0.40989124774932856,
+              0.776655912399292
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12844987958669662,
+              -0.059491962194442805,
+              0.03419387340545654
+            ],
+            "min_contact_pad_to_button": 0.021000557067597958,
+            "closest_contact_pad": [
+              0.13150294125080106,
+              -0.40989840030670166,
+              0.7905551124837051
+            ],
+            "closest_contact_pad_button": [
+              0.13150294125080106,
+              -0.40989840030670166,
+              0.7695545554161072
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021000557067597958
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb80f0110c7404174ec9e7a052aa943b54319a632ca0128eeffdbb9f20623785",
+    "visual_seed": 6468714783386561768,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe482a1f1c10a2907691e89fab4ffb91c5dfd9c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_100_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+  },
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+  "collection_result_filename": "episode_101_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8b11e3cd6ec729c5bfe8632a9b5b3c211806f87
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_101_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
+  "collection_episode_index": 102,
+  "collection_result_filename": "episode_102_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9927f13a31f63f73f071fe3d8502ce27824748b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_102_success.json
@@ -0,0 +1,1684 @@
+{
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+  "collection_result_filename": "episode_103_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0591745ecbc12706151446af2bb3ec52bb0e2ae9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_104_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
+  "collection_episode_index": 105,
+  "collection_result_filename": "episode_105_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1af3978ad67a0257e56f8bb873f3521c293a01ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_105_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
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+  "collection_result_filename": "episode_106_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3c2ec00561b0b8059cf2d3c26d6998114574bef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_106_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
+  "collection_episode_index": 107,
+  "collection_result_filename": "episode_107_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c30f61025b6621cfb7039223e49d55b391cb2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_107_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
+  "passed_steps": 6,
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+  },
+  "collection_episode_index": 108,
+  "collection_result_filename": "episode_108_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9465d361bbc10a37e0ad1469aa7d58b89c16acc2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_108_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
+  "collection_episode_index": 109,
+  "collection_result_filename": "episode_109_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c883efba1b1b018a2a443745fc9ba776c6d2498
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_109_success.json
@@ -0,0 +1,1684 @@
+{
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+  "collection_result_filename": "episode_110_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1101624481955af38ed1658f7593f1211e440fff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_10_success.json
@@ -0,0 +1,1682 @@
+{
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+                "panda_leftfinger",
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+                "panda_rightfingertip",
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+                "split_aloha",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
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+        "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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "89292252b65a91b3a67dd5b2fe014b98b739b9b6e8bccc74e3daf6d8f64380a2",
+    "visual_seed": 6535418639434584080,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f77a829c7641b37f2f3b199bc10972fe15ae544b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_112_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+              -0.06372126470097562,
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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": [
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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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+                  "b": "/World/beaker_2/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",
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+          }
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+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+  },
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+  "collection_result_filename": "episode_113_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_114_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ae437e4fb8369bd87ea055b3b39d620539c9d5e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_114_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
+  "passed_steps": 6,
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+  },
+  "collection_episode_index": 115,
+  "collection_result_filename": "episode_115_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_115_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a65407d57da96db8437912c4502bea867a7d88aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_115_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
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+  "collection_result_filename": "episode_116_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_116_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3124ea9251696be2abdd7681cb34da2c8465dc71
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_116_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
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+  "collection_result_filename": "episode_117_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c88812c207d25b0c132a1c3861cba9869e2ba68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_11_success.json
@@ -0,0 +1,1682 @@
+{
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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": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "90b37a781ead8b1b74bd627c79b7f5fca43657ffb465a2253183bb2d28483e90",
+    "visual_seed": 2487273586017331440,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7687b51d14b1a824ad38b7157bae1ede6c597466
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_12_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+          "metrics": {
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+              -0.055525059878297214,
+              1.004108990744296
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+            "gripper_z": 1.0049291074588174,
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+            "gripper_position": [
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+              -0.05963405772995091,
+              1.0049291074588174
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+              0.004108997851653695,
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+            "object_to_gripper_z": -0.0008201167145214239,
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+              -0.07916225958788803,
+              1.004108990744296
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+            "finger_b": [
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+              -0.055525059878297214,
+              1.004108990744296
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+            "finger_midpoint": [
+              0.3369272574305258,
+              -0.06734365973309261,
+              1.004108990744296
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+              0.0
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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": 0.0491722876623855,
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+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.2675708148781719,
+              0.7565863699530986
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+              0.23184367282494378,
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+            "max_wrist_deg": 120.19010799447318,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.82193560270306,
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+            "max_source_upright_tilt_deg": 89.9187365396404,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_xy_drift": 7.453785878074679e-08,
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+            "target_upright_reference_source": "scene_initial",
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+            "max_target_tilt_deg": 0.0004348985851964468,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
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+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
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+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                -8.722420175483062e-05,
+                -0.0011013149726971374
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
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+            },
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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": {
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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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+              -0.3505144148806653,
+              0.8470194988714985
+            ],
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+              0.2734190599900245,
+              -0.35083498663990575,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.184272900890082,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194988714985,
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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,
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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": 0.4747764084663064,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007608294486999512,
+            "max_z_decrease": 0.007608294486999512,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505695285096625,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007608294486999512,
+            "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": 0.02116796189077939,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007608294486999512,
+            "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": 0.0076089105037155215,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12911897897720337,
+              -0.4070964455604553,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12911897897720337,
+              -0.4070964455604553,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1284396288766411,
+              -0.4088192397458365,
+              0.8046906939080234
+            ],
+            "closest_button": [
+              0.12901541590690607,
+              -0.4071044325828552,
+              0.7696804404258728
+            ],
+            "closest_ee_minus_button": [
+              -0.0005757870302649792,
+              -0.00171480716298128,
+              0.03501025348215059
+            ],
+            "button_min_z_position": [
+              0.12902235984802243,
+              -0.40710267424583435,
+              0.7692005634307861
+            ],
+            "min_active_finger_to_button": 0.1463553610633187,
+            "closest_active_finger": [
+              -0.012445278465747833,
+              -0.3929895758628845,
+              0.8110950589179993
+            ],
+            "closest_active_finger_button": [
+              0.12911562621593473,
+              -0.4070955216884613,
+              0.7767232060432434
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14156090468168256,
+              0.014105945825576782,
+              0.03437185287475586
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+            "min_contact_pad_to_button": 0.02116796189077939,
+            "closest_contact_pad": [
+              0.12902235984802243,
+              -0.41000213973470373,
+              0.7901690090214432
+            ],
+            "closest_contact_pad_button": [
+              0.12902235984802243,
+              -0.40710267424583435,
+              0.7692005634307861
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028994654888693794,
+              0.020968445590657026
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f96902f3d3b61306baa65aeea62ef68d84c30736c210a4ca5d2050b2394884dc",
+    "visual_seed": 5687073009672259427,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e21165a953a9840c829f1ab9d13b332950b61fab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_13_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              1.0027378743271678
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+            "lift_margin": 0.14163124710311237,
+            "gripper_z": 1.0030996303531163,
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+            "gripper_position": [
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+              -0.061082176409901046,
+              1.0030996303531163
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+              0.0039898764482037,
+              0.004177401360713949,
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+            "object_to_gripper_z": -0.0003617560259485675,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.343541715402753,
+              -0.08075677708770618,
+              1.0027378743271678
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+            "finger_b": [
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+              -0.0569047750491871,
+              1.0027378743271678
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+            "finger_midpoint": [
+              0.3382352545148773,
+              -0.06883077606844663,
+              1.0027378743271678
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+            "object_minus_finger_midpoint": [
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+              0.011926001019259537,
+              0.0
+            ],
+            "finger_gap": 0.026106553006165673,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009696394302613714,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049032701585506724,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9829029613297626,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "robotiq_2f85",
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+                "split_aloha",
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+                "elbow_joint",
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+                "finger",
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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",
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+            "contact_point_distance": 0.020986300603620833,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007520854473114014,
+            "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": 0.007521413203154002,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12569278478622437,
+              -0.41002288460731495,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12569278478622437,
+              -0.41002288460731495,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12444272334406617,
+              -0.4087026517624797,
+              0.80596591737362
+            ],
+            "closest_button": [
+              0.12561447918415067,
+              -0.4100278019905089,
+              0.770953357219696
+            ],
+            "closest_ee_minus_button": [
+              -0.0011717558400844985,
+              0.0013251502280292038,
+              0.035012560153923955
+            ],
+            "button_min_z_position": [
+              0.1256011724472046,
+              -0.4100263118743896,
+              0.7692880034446716
+            ],
+            "min_active_finger_to_button": 0.14650630215260982,
+            "closest_active_finger": [
+              -0.0020128190517425537,
+              -0.4730548858642578,
+              0.8111835718154907
+            ],
+            "closest_active_finger_button": [
+              0.1256914883852005,
+              -0.4100210070610046,
+              0.7767969965934753
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12770430743694305,
+              -0.06303387880325323,
+              0.03438657522201538
+            ],
+            "min_contact_pad_to_button": 0.020986300603620833,
+            "closest_contact_pad": [
+              0.1256011724472046,
+              -0.4100263118743896,
+              0.7902743040482925
+            ],
+            "closest_contact_pad_button": [
+              0.1256011724472046,
+              -0.4100263118743896,
+              0.7692880034446716
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020986300603620833
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c55ffcb7676b703eab10d1ff65cdd646b5ccf00af3467a73e2705def2d72469f",
+    "visual_seed": 2772418389425790885,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..532ba51adfcf9c9149c1df17355c53458700a0e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_14_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3410582005397769,
+              -0.059771578812730694,
+              1.0009944183829869
+            ],
+            "current_z": 1.0009944183829869,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1398879103682209,
+            "gripper_z": 1.0020247390552786,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3374553627981581,
+              -0.0637822123272328,
+              1.0020247390552786
+            ],
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+              0.0036028377416188473,
+              0.004010633514502107,
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+            ],
+            "object_to_gripper_xy": 0.0053912541194123574,
+            "object_to_gripper_z": -0.0010303206722916958,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3410582005397769,
+              -0.08328931785451867,
+              1.0009944183829869
+            ],
+            "finger_b": [
+              0.33061514167023304,
+              -0.059771578812730694,
+              1.0009944183829869
+            ],
+            "finger_midpoint": [
+              0.335836671105005,
+              -0.07153044833362468,
+              1.0009944183829869
+            ],
+            "object_minus_finger_midpoint": [
+              0.005221529434771943,
+              0.011758869520893986,
+              0.0
+            ],
+            "finger_gap": 0.025732110838219188,
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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": 1.0009944183829869,
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+            "object_to_finger_line_xy": 0.009544383468424365,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866306944506017,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.077816736415409,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.26706741928386996,
+              0.756586420326782
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+              0.23104283082121174,
+              1.023937664035369
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+              0.0039035868700635357,
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+            "required_height": 0.786586420326782,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.16608621916225,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_tilt_deg": 2.0493023740482124,
+            "max_source_tilt_deg": 89.71313582369979,
+            "source_upright_tilt_deg": 2.094317408932675,
+            "max_source_upright_tilt_deg": 89.69582903201416,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0493023740482124,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.6970678155705114e-08,
+            "max_target_xy_drift": 1.9791567128317382e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.03956466609471701,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 5.039434656381329e-05,
+            "max_target_tilt_deg": 0.00022728827130722798,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2405,
+                0.2671,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+                "right_inner_finger",
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+                "robotiq_2f85",
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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"
+                }
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+            "failed_keys": []
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+        },
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+    {
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+      "skill": "place",
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+          "target": "heater_platform",
+          "passed": true,
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+              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": 5,
+      "skill": "press",
+      "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,
+            "min_ee_to_button": 0.035075480622870754,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075972676277160645,
+            "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": 0.021142255419867077,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0075972676277160645,
+            "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": 0.00759783019176089,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12991613149642944,
+              -0.41485023498535156,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12991613149642944,
+              -0.41485023498535156,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13008138279002499,
+              -0.41614277808753813,
+              0.8050981065804338
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+            "closest_button": [
+              0.12982811033725739,
+              -0.4148550331592559,
+              0.7700471878051758
+            ],
+            "closest_ee_minus_button": [
+              0.0002532724527676,
+              -0.0012877449282822084,
+              0.03505091877525801
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+            "button_min_z_position": [
+              0.12982381880283356,
+              -0.41485539078712463,
+              0.7692115902900696
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+            "min_active_finger_to_button": 0.1455641153453084,
+            "closest_active_finger": [
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+              -0.3981514275074005,
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+            "closest_active_finger_button": [
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+              -0.41485002636909485,
+              0.7763358354568481
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
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+              0.016698598861694336,
+              0.034296274185180664
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+            "min_contact_pad_to_button": 0.021142255419867077,
+            "closest_contact_pad": [
+              0.12982381880283356,
+              -0.4175291930759062,
+              0.7901840900351979
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+            "closest_contact_pad_button": [
+              0.12982381880283356,
+              -0.41485539078712463,
+              0.7692115902900696
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002673802288781557,
+              0.02097249974512827
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ee2d37c46525b5ed88f5a3af5d76f787c24d311fdf2715acf01ff238cbf02461",
+    "visual_seed": 7690293969163585463,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11216ab681081dff105f92a9b3602a4bd0068c5d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_16_success.json
@@ -0,0 +1,1682 @@
+{
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+            "object_tilt_deg": 0.2202859963254592,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007794439792633057,
+            "max_z_decrease": 0.007794439792633057,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505338360666869,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007794439792633057,
+            "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": 0.02106452246309555,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007794439792633057,
+            "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": 0.007795026293166343,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12928625941276545,
+              -0.4158574938774109,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12928625941276545,
+              -0.4158574938774109,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13002255894198086,
+              -0.41657734238600924,
+              0.8048106982636993
+            ],
+            "closest_button": [
+              0.12918269634246823,
+              -0.4158739745616913,
+              0.7697744369506836
+            ],
+            "closest_ee_minus_button": [
+              0.0008398625995126308,
+              -0.0007033678243179575,
+              0.03503626131301574
+            ],
+            "button_min_z_position": [
+              0.1291908621788025,
+              -0.4158640205860138,
+              0.7690144181251526
+            ],
+            "min_active_finger_to_button": 0.14508814699363556,
+            "closest_active_finger": [
+              -0.010958224534988403,
+              -0.4017547070980072,
+              0.8112083673477173
+            ],
+            "closest_active_finger_button": [
+              0.12928405404090879,
+              -0.4158555865287781,
+              0.7768014073371887
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1402422785758972,
+              0.014100879430770874,
+              0.034406960010528564
+            ],
+            "min_contact_pad_to_button": 0.02106452246309555,
+            "closest_contact_pad": [
+              0.1291908621788025,
+              -0.41765226883406126,
+              0.7900028976985188
+            ],
+            "closest_contact_pad_button": [
+              0.1291908621788025,
+              -0.4158640205860138,
+              0.7690144181251526
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017882482480474637,
+              0.020988479573366248
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "938b2e1eabb21cc7438bef2d1ade53a6994449b54e062581630d91125d1aea67",
+    "visual_seed": 4011017415253191975,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7b530f1dda3a5f8cd96d37889fb8ce64f4b4eb8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_18_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3396184808595881,
+              -0.05471771718202221,
+              1.0031594987809975
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+            "current_z": 1.0031594987809975,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.14205293116158657,
+            "gripper_z": 1.0040864699096839,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.335578202546192,
+              -0.059016591297572515,
+              1.0040864699096839
+            ],
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+              0.004040278313396151,
+              0.004298874115550307,
+              -0.000926971128686338
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+            "object_to_gripper_xy": 0.0058995057005691316,
+            "object_to_gripper_z": -0.000926971128686338,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3396184808595881,
+              -0.07851103949486385,
+              1.0031594987809975
+            ],
+            "finger_b": [
+              0.32872188190678187,
+              -0.05471771718202221,
+              1.0031594987809975
+            ],
+            "finger_midpoint": [
+              0.334170181383185,
+              -0.06661437833844303,
+              1.0031594987809975
+            ],
+            "object_minus_finger_midpoint": [
+              0.005448299476403129,
+              0.011896661156420817,
+              0.0
+            ],
+            "finger_gap": 0.026169792804320524,
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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": 1.0031594987809975,
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+            "fingertip_min_top_clearance": 0.014959755135764212,
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+            "object_to_finger_line_xy": 0.009907082296619808,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900522766193645,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9808243254416644,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f701f5e10a3afdc64235af6f753aaf47bd52fab82b25b54652a99ea8a38366dd",
+    "visual_seed": 2816093632180770794,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9866231962e403fa560c44da59e0882c37b4ea5a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_19_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33738248061531506,
+              -0.0505695535117469,
+              1.0033187275803215
+            ],
+            "current_z": 1.0033187275803215,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1422122791702004,
+            "gripper_z": 1.0047309219093536,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3331209931206224,
+              -0.054838020526343595,
+              1.0047309219093536
+            ],
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+              0.004261487494692684,
+              0.004268467014596697,
+              -0.0014121943290321681
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+            "object_to_gripper_xy": 0.0060315906958382185,
+            "object_to_gripper_z": -0.0014121943290321681,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33738248061531506,
+              -0.07471138059470077,
+              1.0033187275803215
+            ],
+            "finger_b": [
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+              -0.0505695535117469,
+              1.0033187275803215
+            ],
+            "finger_midpoint": [
+              0.3320797177871748,
+              -0.06264046705322383,
+              1.0033187275803215
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053027628281402395,
+              0.012070913541476935,
+              0.0
+            ],
+            "finger_gap": 0.026368636471180484,
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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_min_top_clearance": 0.014931442844292563,
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+            "object_to_finger_line_xy": 0.00970989784767939,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049070073316148974,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.025401030393074,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.2650426820119629,
+              0.7565864645897524
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+              0.22887732595701188,
+              1.0251405086150718
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+            "target_minus_gripper": [
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+            "held_minus_target": [
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+              0.004185897489008716,
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+            "xy_threshold": 0.15,
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+            "max_wrist_deg": 120.19540139107994,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.65449710103445,
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+            "max_source_upright_tilt_deg": 89.96234676258729,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 1.4589059504899324e-07,
+            "max_target_xy_drift": 1.6997226414793831e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.03956467344579238,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 5.087660010268952e-05,
+            "max_target_tilt_deg": 5.0983942370068776e-05,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
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+                0.265,
+                0.7566
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+              "controller_target_position": [
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+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+                  0.4
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6116986274719238
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
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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",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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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+            "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": 4,
+      "skill": "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": [
+              0.27750784063708955,
+              -0.3579036432238216,
+              0.8470196290202439
+            ],
+            "target_position": [
+              0.27223792088874843,
+              -0.3570561404141472,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0053376319811656026,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18626138540657844,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196290202439,
+            "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": 0.07584073447344393,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08716071653407594,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15325788146212843,
+            "release_required_pad_clearance": 0.05358035826703797,
+            "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": 2.1710485990958275,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007720530033111572,
+            "max_z_decrease": 0.007720530033111572,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035043295489548036,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007720530033111572,
+            "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": 0.021033799418312814,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007720530033111572,
+            "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": 0.007721020521229227,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12793785333633423,
+              -0.4133175909519195,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12793785333633423,
+              -0.4133175909519195,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1264604432401302,
+              -0.41367905086427675,
+              0.8049966975887993
+            ],
+            "closest_button": [
+              0.12784799933433533,
+              -0.41332280635833735,
+              0.7699826955795288
+            ],
+            "closest_ee_minus_button": [
+              -0.001387556094205128,
+              -0.00035624450593940704,
+              0.03501400200927052
+            ],
+            "button_min_z_position": [
+              0.12785086035728455,
+              -0.4133200645446777,
+              0.7690883278846741
+            ],
+            "min_active_finger_to_button": 0.14728748355600824,
+            "closest_active_finger": [
+              -0.014274656772613525,
+              -0.3962419331073761,
+              0.810901403427124
+            ],
+            "closest_active_finger_button": [
+              0.1279321014881134,
+              -0.41331869363784784,
+              0.7765615582466125
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14220675826072693,
+              0.017076760530471746,
+              0.034339845180511475
+            ],
+            "min_contact_pad_to_button": 0.021033799418312814,
+            "closest_contact_pad": [
+              0.12785086035728455,
+              -0.4150149171928424,
+              0.7900537325426058
+            ],
+            "closest_contact_pad_button": [
+              0.12785086035728455,
+              -0.4133200645446777,
+              0.7690883278846741
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001694852648164713,
+              0.02096540465793173
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a6a831a6612ef1c64a5a43dfbc89bf610dbc4c85b0d01df7c00f3c23a3836af",
+    "visual_seed": 7443324103258403930,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..31810d437890401791a4ab36adbed5f82895b58b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_1_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.33569807337362406,
+              -0.05301821608098038,
+              1.0031214320137698
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+            "current_z": 1.0031214320137698,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14201498360364861,
+            "gripper_z": 1.0037695601939483,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3318887695702512,
+              -0.05715778851871925,
+              1.0037695601939483
+            ],
+            "object_minus_gripper": [
+              0.0038093038033728543,
+              0.004139572437738867,
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+            "object_to_gripper_xy": 0.005625553789066299,
+            "object_to_gripper_z": -0.0006481281801784533,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33569807337362406,
+              -0.07662058273209212,
+              1.0031214320137698
+            ],
+            "finger_b": [
+              0.3249578135526013,
+              -0.05301821608098038,
+              1.0031214320137698
+            ],
+            "finger_midpoint": [
+              0.33032794346311267,
+              -0.06481939940653625,
+              1.0031214320137698
+            ],
+            "object_minus_finger_midpoint": [
+              0.00537012991051139,
+              0.011801183325555867,
+              0.0
+            ],
+            "finger_gap": 0.025931156791716554,
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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": 1.0031214320137698,
+            "object_top_z": 1.053162504300516,
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+            "object_projection_between_fingers": 0.8284519471245351,
+            "object_to_finger_line_xy": 0.009775713141534838,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944567016186095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3504227377273352,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007684767246246338,
+            "max_z_decrease": 0.007684767246246338,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505961386306714,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007684767246246338,
+            "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": 0.021093688403432405,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007684767246246338,
+            "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": 0.00768532935696644,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12908214330673212,
+              -0.40710610151290894,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12908214330673212,
+              -0.40710610151290894,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13028269683294114,
+              -0.4080440254711888,
+              0.8047753759879712
+            ],
+            "closest_button": [
+              0.1289771050214767,
+              -0.407117873430252,
+              0.7697523236274719
+            ],
+            "closest_ee_minus_button": [
+              0.001305591811464446,
+              -0.0009261520409367674,
+              0.035023052360499296
+            ],
+            "button_min_z_position": [
+              0.12898954749107358,
+              -0.4071142077445984,
+              0.7691240906715393
+            ],
+            "min_active_finger_to_button": 0.14468981011801924,
+            "closest_active_finger": [
+              -0.010865285992622375,
+              -0.39427411556243896,
+              0.8110772967338562
+            ],
+            "closest_active_finger_button": [
+              0.12907980382442472,
+              -0.40710464119911194,
+              0.7766405344009399
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1399450898170471,
+              0.012830525636672974,
+              0.03443676233291626
+            ],
+            "min_contact_pad_to_button": 0.021093688403432405,
+            "closest_contact_pad": [
+              0.12898954749107358,
+              -0.4090374872236374,
+              0.7901299157328552
+            ],
+            "closest_contact_pad_button": [
+              0.12898954749107358,
+              -0.4071142077445984,
+              0.7691240906715393
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019232794790390306,
+              0.021005825061315875
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c1ba72852b2741c984518a82561b3228fc2e3fbfc7aa529146828c4174e57cf3",
+    "visual_seed": 5706636848323437561,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..040b23ef5e9536c52cb96f1df495a6f82ba89cb2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_21_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33694315583174267,
+              -0.054212501461078255,
+              1.0031680478504823
+            ],
+            "current_z": 1.0031680478504823,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.142061599440361,
+            "gripper_z": 1.0037778181031571,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3326818686233275,
+              -0.058447385927419174,
+              1.0037778181031571
+            ],
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+              0.0042612872084151765,
+              0.0042348844663409185,
+              -0.000609770252674835
+            ],
+            "object_to_gripper_xy": 0.006007729614077053,
+            "object_to_gripper_z": -0.000609770252674835,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33694315583174267,
+              -0.07840121599055146,
+              1.0031680478504823
+            ],
+            "finger_b": [
+              0.3264199649630354,
+              -0.054212501461078255,
+              1.0031680478504823
+            ],
+            "finger_midpoint": [
+              0.33168156039738905,
+              -0.06630685872581485,
+              1.0031680478504823
+            ],
+            "object_minus_finger_midpoint": [
+              0.005261595434353616,
+              0.012094357264736594,
+              0.0
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+            "finger_gap": 0.026378617413495963,
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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": 0.00964957548275783,
+            "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
+            ],
+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.26932378910627003,
+              0.7565864964671473
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+              0.23372134800852312,
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+              0.004230183958909783,
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+            "max_wrist_deg": 120.15076610485391,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.6166744765535,
+            "source_upright_tilt_deg": 3.3194752905153164,
+            "max_source_upright_tilt_deg": 89.91695870959992,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 0.9891665800878882,
+            "source_upright_return_tilt_deg": 3.3194752905153164,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.22826418332829e-08,
+            "max_target_xy_drift": 1.835692264313085e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.03956466786339692,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 8.938157892883426e-05,
+            "max_target_tilt_deg": 0.0002166483221926207,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
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+    "task_island_state_digest": "f7275320d4c747a497ca5b1c43e140d5a54616f3a3a02716b1c1973f4cb8875a",
+    "visual_seed": 7251016375952670775,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f25b0c433b5dedd2b15f8a099f75f1803d0e0da5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_22_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+              1.0037575560270176
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+              -0.06383660252000359,
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+              0.00413477544807643,
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+              -0.05970182707192716,
+              1.0037575560270176
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+              -0.07168793856240689,
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+              0.011986111490479734,
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+              0.0,
+              1.0
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+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "missing_end_effector_orientation_samples": 0,
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+            "valid_pour_pose_frames": 0,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00467845037966462,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1836623149035843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196333156421,
+            "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": 0.07549540338095222,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651316736372776,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15190213041056774,
+            "release_required_pad_clearance": 0.05325658368186388,
+            "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": 1.533366194647934,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076223015785217285,
+            "max_z_decrease": 0.0076223015785217285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506282503650891,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076223015785217285,
+            "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": 0.021054899166296673,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0076223015785217285,
+            "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": 0.0076229863713396856,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12470581382513046,
+              -0.41277384757995594,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12470581382513046,
+              -0.41277384757995594,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12556797475736317,
+              -0.4132020030998206,
+              0.804369665988927
+            ],
+            "closest_button": [
+              0.12460248172283173,
+              -0.41277864575386036,
+              0.7693226933479309
+            ],
+            "closest_ee_minus_button": [
+              0.000965493034531445,
+              -0.000423357345960218,
+              0.0350469726409961
+            ],
+            "button_min_z_position": [
+              0.12460373342037202,
+              -0.4127782583236693,
+              0.7691865563392639
+            ],
+            "min_active_finger_to_button": 0.14496743226544356,
+            "closest_active_finger": [
+              -0.015046678483486176,
+              -0.3952799141407013,
+              0.8110074996948242
+            ],
+            "closest_active_finger_button": [
+              0.1247025653719902,
+              -0.4127729237079619,
+              0.7766607403755188
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13974924385547638,
+              0.01749300956726063,
+              0.03434675931930542
+            ],
+            "min_contact_pad_to_button": 0.021054899166296673,
+            "closest_contact_pad": [
+              0.12460373342037202,
+              -0.4145577467023589,
+              0.7901661225886655
+            ],
+            "closest_contact_pad_button": [
+              0.12460373342037202,
+              -0.4127782583236693,
+              0.7691865563392639
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017794883786895754,
+              0.02097956624940156
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3876331b8ad77c3bac16dc245ac50da5eac05e484acfa7af138cef4c0cc984ae",
+    "visual_seed": 4914763011609271531,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1415e6f6d1e934af059a0df78cdb90b8e4b30900
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_23_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3394881950750409,
+              -0.05911237315154577,
+              1.0033378487025488
+            ],
+            "current_z": 1.0033378487025488,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14223134068778265,
+            "gripper_z": 1.004048701371834,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3352696744717103,
+              -0.06351309868092146,
+              1.004048701371834
+            ],
+            "object_minus_gripper": [
+              0.004218520603330611,
+              0.00440072552937569,
+              -0.0007108526692851669
+            ],
+            "object_to_gripper_xy": 0.006096089013918991,
+            "object_to_gripper_z": -0.0007108526692851669,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3394881950750409,
+              -0.08290941244992706,
+              1.0033378487025488
+            ],
+            "finger_b": [
+              0.3282723270463089,
+              -0.05911237315154577,
+              1.0033378487025488
+            ],
+            "finger_midpoint": [
+              0.3338802610606749,
+              -0.07101089280073641,
+              1.0033378487025488
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056079340143659895,
+              0.011898519649190642,
+              0.0
+            ],
+            "finger_gap": 0.026307694216837717,
+            "fingertip_max_gap": 0.09300254199526556,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013153847108418847,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0033378487025488,
+            "object_top_z": 1.0531183474440915,
+            "finger_top_clearance": 0.04978049874154267,
+            "fingertip_min_top_clearance": 0.014934149622462816,
+            "object_projection_between_fingers": 0.8182392062752862,
+            "object_to_finger_line_xy": 0.010145490138560588,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900127099763278,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8968439741653738,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+              0.01700282096862793,
+              0.03436011075973511
+            ],
+            "min_contact_pad_to_button": 0.021089318451226705,
+            "closest_contact_pad": [
+              0.12493515014648438,
+              -0.4170575812212578,
+              0.7901737086185686
+            ],
+            "closest_contact_pad_button": [
+              0.12493515014648438,
+              -0.4150535762310028,
+              0.7691798210144043
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002004004990254993,
+              0.02099388760416432
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa6540130419976e59af9aa477d94b410ff1d18a7a18f39d050fe86b5eb44315",
+    "visual_seed": 2162413918975889605,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..45a6f441d3b27698aa7db4ec4808b23b0908d454
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_24_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34032069773090384,
+              -0.06078418615780128,
+              1.004081747142
+            ],
+            "current_z": 1.004081747142,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.14297529873187909,
+            "gripper_z": 1.0044553474692248,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3361833549785223,
+              -0.06497254153454667,
+              1.0044553474692248
+            ],
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+              0.004137342752381534,
+              0.004188355376745383,
+              -0.00037360032722477676
+            ],
+            "object_to_gripper_xy": 0.005887268111152742,
+            "object_to_gripper_z": -0.00037360032722477676,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34032069773090384,
+              -0.08486638537897369,
+              1.004081747142
+            ],
+            "finger_b": [
+              0.3298451442208817,
+              -0.06078418615780128,
+              1.004081747142
+            ],
+            "finger_midpoint": [
+              0.33508292097589276,
+              -0.07282528576838748,
+              1.004081747142
+            ],
+            "object_minus_finger_midpoint": [
+              0.005237776755011081,
+              0.0120410996105862,
+              0.0
+            ],
+            "finger_gap": 0.026261940915887662,
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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": 1.004081747142,
+            "object_top_z": 1.0540568662045766,
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+            "object_projection_between_fingers": 0.8408889581900851,
+            "object_to_finger_line_xy": 0.009606082329877868,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0491578849932786,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.950055218776358,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23657201845306952,
+              0.2701092716519133,
+              0.7565864478039208
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+            "gripper_position": [
+              0.24520189780048035,
+              0.23360679470561843,
+              1.024517198208912
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+              0.036502476946294854,
+              -0.26793075040499126
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+            "held_position": [
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004161759905276369,
+              -0.00047346022233374363
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+            "max_held_gripper_dist": 0.005899836130901248,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
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+            "gripper_z": 1.024517198208912,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.16694682299767,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 3.638175757618089,
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+            "source_tilt_deg": 2.0788746772375037,
+            "max_source_tilt_deg": 89.87278167262215,
+            "source_upright_tilt_deg": 3.626638825234885,
+            "max_source_upright_tilt_deg": 89.99980230236032,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0788746772375037,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.519626234052415e-07,
+            "max_target_xy_drift": 2.980232238769531e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2366,
+                0.2701,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.2701,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.2
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.609340786933899
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+            "pour_controller_workflow_step_index": 1,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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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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+            "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": 4,
+      "skill": "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": [
+              0.27634700185028777,
+              -0.3582048013354819,
+              0.8470191026401142
+            ],
+            "target_position": [
+              0.2680346943210235,
+              -0.3593327971517708,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008388493966298637,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18766794429051006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191026401142,
+            "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": 0.07534136482139754,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08737487106156709,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15610485339852656,
+            "release_required_pad_clearance": 0.05368743553078355,
+            "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": 2.383466084410841,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007730841636657715,
+            "max_z_decrease": 0.007730841636657715,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504994301035213,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007730841636657715,
+            "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": 0.021135671458290924,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007730841636657715,
+            "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": 0.007731409008495259,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12373462319374084,
+              -0.4155942499637604,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12373462319374084,
+              -0.4155942499637604,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12317334153631082,
+              -0.4168640936810849,
+              0.8055982987572575
+            ],
+            "closest_button": [
+              0.12365639954805373,
+              -0.4155961275100708,
+              0.7705746293067932
+            ],
+            "closest_ee_minus_button": [
+              -0.00048305801174290675,
+              -0.001267966171014101,
+              0.03502366945046431
+            ],
+            "button_min_z_position": [
+              0.12364107370376587,
+              -0.4155988693237305,
+              0.7690780162811279
+            ],
+            "min_active_finger_to_button": 0.1463798238519738,
+            "closest_active_finger": [
+              -0.01762329787015915,
+              -0.39935725927352905,
+              0.8109616637229919
+            ],
+            "closest_active_finger_button": [
+              0.12373010814189911,
+              -0.41559457778930664,
+              0.7765724658966064
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14135340601205826,
+              0.016237318515777588,
+              0.0343891978263855
+            ],
+            "min_contact_pad_to_button": 0.021135671458290924,
+            "closest_contact_pad": [
+              0.12364107370376587,
+              -0.41823633745363015,
+              0.7900484805071907
+            ],
+            "closest_contact_pad_button": [
+              0.12364107370376587,
+              -0.4155988693237305,
+              0.7690780162811279
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026374681298996228,
+              0.020970464226062746
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f7dfcee97fd4d27f4c5e5e76e20dc6c141f1b70fda4222622ca063f1b68cb2c2",
+    "visual_seed": 7390863805614006379,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89b2faad4c8cea2681d441e892a501d92d6ef6c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_25_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34141312517909783,
+              -0.056277244416206636,
+              1.0043189512095965
+            ],
+            "current_z": 1.0043189512095965,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.14321226438089607,
+            "gripper_z": 1.0047313391706374,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33729659446062477,
+              -0.06047836944966423,
+              1.0047313391706374
+            ],
+            "object_minus_gripper": [
+              0.004116530718473066,
+              0.004201125033457591,
+              -0.00041238796104092756
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+            "object_to_gripper_xy": 0.005881774961937631,
+            "object_to_gripper_z": -0.00041238796104092756,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34141312517909783,
+              -0.08028771536304098,
+              1.0043189512095965
+            ],
+            "finger_b": [
+              0.33087354224414267,
+              -0.056277244416206636,
+              1.0043189512095965
+            ],
+            "finger_midpoint": [
+              0.33614333371162025,
+              -0.06828247988962381,
+              1.0043189512095965
+            ],
+            "object_minus_finger_midpoint": [
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+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007486462593078613,
+            "max_z_decrease": 0.007486462593078613,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504657103147386,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007486462593078613,
+            "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": 0.02103449176234218,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007486462593078613,
+            "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": 0.007487026317124143,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1294876337051391,
+              -0.4132860004901885,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1294876337051391,
+              -0.4132860004901885,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1282280629248393,
+              -0.4138217731336724,
+              0.8065589969979203
+            ],
+            "closest_button": [
+              0.12942333519458765,
+              -0.41329160332679743,
+              0.7715368270874023
+            ],
+            "closest_ee_minus_button": [
+              -0.0011952722697483598,
+              -0.0005301698068749805,
+              0.035022169910517986
+            ],
+            "button_min_z_position": [
+              0.12939600646495814,
+              -0.41329273581504816,
+              0.769322395324707
+            ],
+            "min_active_finger_to_button": 0.14722566293233272,
+            "closest_active_finger": [
+              -0.012992382049560547,
+              -0.3994656503200531,
+              0.8108876943588257
+            ],
+            "closest_active_finger_button": [
+              0.12948198616504664,
+              -0.41328647732734675,
+              0.7764575481414795
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14247436821460718,
+              0.013820827007293646,
+              0.03443014621734619
+            ],
+            "min_contact_pad_to_button": 0.02103449176234218,
+            "closest_contact_pad": [
+              0.12939600646495814,
+              -0.4149108341612862,
+              0.7902945578608391
+            ],
+            "closest_contact_pad_button": [
+              0.12939600646495814,
+              -0.41329273581504816,
+              0.769322395324707
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016180983462380505,
+              0.0209721625361321
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a5a5b68720ee434e8390a241fc3d42758fbbbdf1221fc8263b984711af23dd28",
+    "visual_seed": 8541872855188069706,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..603744c3456f9baa3dcda8de1bd8c7b5678954aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_26_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.33849939656654215,
+              -0.052133437512750964,
+              1.0047982043477854
+            ],
+            "current_z": 1.0047982043477854,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14369175593766437,
+            "gripper_z": 1.005771948554719,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33449595238849006,
+              -0.056415446428136104,
+              1.005771948554719
+            ],
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+              0.004003444178052096,
+              0.0042820089153851396,
+              -0.0009737442069335245
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+            "object_to_gripper_xy": 0.005862010375137274,
+            "object_to_gripper_z": -0.0009737442069335245,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33849939656654215,
+              -0.07587758963847652,
+              1.0047982043477854
+            ],
+            "finger_b": [
+              0.32760097167842417,
+              -0.052133437512750964,
+              1.0047982043477854
+            ],
+            "finger_midpoint": [
+              0.33305018412248316,
+              -0.06400551357561374,
+              1.0047982043477854
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011872076062862773,
+              0.0
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+            "finger_gap": 0.026125857406246913,
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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": 0.009904894390658055,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04903542989626737,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.27070494215153384,
+              0.7565864152687957
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+              0.23681515700204325,
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+              0.004217444600692399,
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+            "xy_dist": 0.03478343684932691,
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+            "held_gripper_dist": 0.005934514361995126,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7865864152687957,
+            "gripper_z": 1.0311510187071082,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.11179304544982,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 2.577187851327064,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.001770862161866,
+            "max_source_tilt_deg": 89.97107392778764,
+            "source_upright_tilt_deg": 3.2782069268013485,
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a1ddd11a89fb167087d5609834032241a323ac716e825722fb69040d25faa28",
+    "visual_seed": 6079947956479533372,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e37aa9d67018a0fafd018a6d09426451a0de23f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_27_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "reason": "executed",
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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/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+          }
+        },
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_metrics": {},
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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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": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.2811926962818583,
+              -0.3605708125766024,
+              0.8470196877407494
+            ],
+            "target_position": [
+              0.2753620061176762,
+              -0.3603050179017013,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005836745206011266,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1871331968068328,
+            "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": 0.07571664432855477,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336888,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15463145291297642,
+            "release_required_pad_clearance": 0.052461859836684444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007664859294891357,
+            "max_z_decrease": 0.007664859294891357,
+            "final_z_decrease": -5.960464477539063e-08,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503694925008755,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007664859294891357,
+            "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": 0.02101282134528825,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007664859294891357,
+            "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": 0.00766527002529282,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13106192648410797,
+              -0.4165664911270141,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13106192648410797,
+              -0.4165664911270141,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.12982282720493882,
+              -0.41675054858739513,
+              0.8059283920512893
+            ],
+            "closest_button": [
+              0.13098013401031494,
+              -0.4165678918361664,
+              0.7709110379219055
+            ],
+            "closest_ee_minus_button": [
+              -0.0011573068053761237,
+              -0.00018265675122874914,
+              0.03501735412938378
+            ],
+            "button_min_z_position": [
+              0.1309826374053955,
+              -0.4165696203708648,
+              0.7691439986228943
+            ],
+            "min_active_finger_to_button": 0.14711993261559045,
+            "closest_active_finger": [
+              0.0025328323245048523,
+              -0.4794282913208008,
+              0.8105637431144714
+            ],
+            "closest_active_finger_button": [
+              0.13105496764183044,
+              -0.41656568646430964,
+              0.7762908935546875
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1285221353173256,
+              -0.06286260485649114,
+              0.034272849559783936
+            ],
+            "min_contact_pad_to_button": 0.02101282134528825,
+            "closest_contact_pad": [
+              0.1309826374053955,
+              -0.4180075757190891,
+              0.7901075609467341
+            ],
+            "closest_contact_pad_button": [
+              0.1309826374053955,
+              -0.4165696203708648,
+              0.7691439986228943
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014379553482242735,
+              0.02096356232383978
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "187cb081220f42a89ab24196f666bd43caba10eef491d638605cdc16b1b567be",
+    "visual_seed": 7845849507129454896,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28b5db41dcf3c205514564061c5c220030d4ea5c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_28_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.34253586983806966,
+              -0.054125931932579384,
+              1.0046010669879326
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+            "current_z": 1.0046010669879326,
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+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.14349467818245643,
+            "gripper_z": 1.0049606034108551,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3386553598336549,
+              -0.058322310716707945,
+              1.0049606034108551
+            ],
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+              0.00388051000441475,
+              0.004196378784128561,
+              -0.00035953642292252397
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+            "object_to_gripper_z": -0.00035953642292252397,
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+            "finger_a": [
+              0.34253586983806966,
+              -0.07773198397634645,
+              1.0046010669879326
+            ],
+            "finger_b": [
+              0.33168566976506897,
+              -0.054125931932579384,
+              1.0046010669879326
+            ],
+            "finger_midpoint": [
+              0.3371107698015693,
+              -0.06592895795446292,
+              1.0046010669879326
+            ],
+            "object_minus_finger_midpoint": [
+              0.005425100036500374,
+              0.011803026021883538,
+              0.0
+            ],
+            "finger_gap": 0.025980233538542022,
+            "fingertip_max_gap": 0.0933918849826755,
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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": 1.0544761717738276,
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+            "object_to_finger_line_xy": 0.009858663788705622,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049195942491337755,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.2177276633233016,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+            "button_max_displacement": 0.0074976684112921825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1302913129329681,
+              -0.4132882058620453,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1302913129329681,
+              -0.4132882058620453,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12993755970572726,
+              -0.4140403236758337,
+              0.8043323931507795
+            ],
+            "closest_button": [
+              0.13017174601554865,
+              -0.4132905900478363,
+              0.7693121433258057
+            ],
+            "closest_ee_minus_button": [
+              -0.0002341863098213881,
+              -0.0007497336279974065,
+              0.03502024982497387
+            ],
+            "button_min_z_position": [
+              0.13017174601554865,
+              -0.4132905900478363,
+              0.7693121433258057
+            ],
+            "min_active_finger_to_button": 0.1460668446159663,
+            "closest_active_finger": [
+              -0.010721199214458466,
+              -0.3967016339302063,
+              0.8106908798217773
+            ],
+            "closest_active_finger_button": [
+              0.13028472661972046,
+              -0.41328802704811096,
+              0.7763726115226746
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14100592583417892,
+              0.016586393117904663,
+              0.03431826829910278
+            ],
+            "min_contact_pad_to_button": 0.02104597136295786,
+            "closest_contact_pad": [
+              0.13017174601554865,
+              -0.4153349985049315,
+              0.7902585822754458
+            ],
+            "closest_contact_pad_button": [
+              0.13017174601554865,
+              -0.4132905900478363,
+              0.7693121433258057
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020444084570951926,
+              0.0209464389496401
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e79d0bcb7a20c72bb05fc9700c987a3c1c3c9256c7f491d562abfaeac969a7f",
+    "visual_seed": 853862691804145193,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f20b98ff6282e8a02b93fa24ff17d69f7c7e55f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_29_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33651118364868315,
+              -0.053822378275265204,
+              1.0019869611324328
+            ],
+            "current_z": 1.0019869611324328,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.14088039351302217,
+            "gripper_z": 1.0024085117319301,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3323971202748163,
+              -0.0579997903180092,
+              1.0024085117319301
+            ],
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+              0.0041140633738668275,
+              0.004177412042743994,
+              -0.0004215505994973334
+            ],
+            "object_to_gripper_xy": 0.005863129609607403,
+            "object_to_gripper_z": -0.0004215505994973334,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33651118364868315,
+              -0.07787562504648124,
+              1.0019869611324328
+            ],
+            "finger_b": [
+              0.32604778315415506,
+              -0.053822378275265204,
+              1.0019869611324328
+            ],
+            "finger_midpoint": [
+              0.3312794834014191,
+              -0.06584900166087322,
+              1.0019869611324328
+            ],
+            "object_minus_finger_midpoint": [
+              0.005231700247264048,
+              0.012026623385608018,
+              0.0
+            ],
+            "finger_gap": 0.026230543840071358,
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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": 1.0019869611324328,
+            "object_top_z": 1.0518289053637835,
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+            "fingertip_min_top_clearance": 0.01495258326940524,
+            "object_projection_between_fingers": 0.8408776781280831,
+            "object_to_finger_line_xy": 0.009594873659327983,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04909260716833706,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.005637895514355,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23986044647470225,
+              0.26469024241084077,
+              0.7565864518613634
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+            "gripper_position": [
+              0.24818146472508434,
+              0.22834582549795557,
+              1.0250849219500746
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+            "target_minus_gripper": [
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+              0.0363444169128852,
+              -0.2684984700887112
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+            "held_position": [
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+              0.23252188253689998,
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+            "held_minus_target": [
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+              -0.03216835987394079,
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+            "held_minus_gripper": [
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+              0.004176057038944414,
+              -0.0005275692503423635
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+            "xy_dist": 0.03728479563388819,
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+            "held_gripper_dist": 0.005874534735106127,
+            "max_held_gripper_dist": 0.005880111195649012,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864518613634,
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+            "gripper_z": 1.0250849219500746,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.18416572989527,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 3.65776842602078,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9947932324727633,
+            "max_source_tilt_deg": 89.98033713367273,
+            "source_upright_tilt_deg": 3.9187061875615297,
+            "max_source_upright_tilt_deg": 89.70819148653602,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9947932324727633,
+            "source_upright_return_tilt_deg": 3.9187061875615297,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.0013410212306677e-07,
+            "max_target_xy_drift": 1.897187867115931e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.03956458902809782,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0001397296497688606,
+            "max_target_tilt_deg": 0.00026665361625170906,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2399,
+                0.2647,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2399,
+                0.2647,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0012,
+                0.0014,
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+              "controller_last_pour_pose_position": [
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+                1.0207
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
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+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
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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",
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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",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "link0",
+                "table",
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+                "workbench"
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+            },
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+            "last_frame": {
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+              "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": {
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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": 4,
+      "skill": "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": [
+              0.2779766187369156,
+              -0.35092489132221033,
+              0.8470193870465241
+            ],
+            "target_position": [
+              0.27035966119668614,
+              -0.351550236734603,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00764258457947695,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18696627237533162,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193870465241,
+            "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": 0.0754871760569694,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08664109444809222,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15505231464822286,
+            "release_required_pad_clearance": 0.05332054722404611,
+            "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": 1.6579586619847846,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007418632507324219,
+            "max_z_decrease": 0.007418632507324219,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505408636283763,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007418632507324219,
+            "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": 0.020994491986159776,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007418632507324219,
+            "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": 0.007419334388040433,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12605959177017206,
+              -0.40781170129775995,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12605959177017206,
+              -0.40781170129775995,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12654078037079186,
+              -0.40719442291414976,
+              0.80443389825968
+            ],
+            "closest_button": [
+              0.1259578019380569,
+              -0.407819002866745,
+              0.7693902254104614
+            ],
+            "closest_ee_minus_button": [
+              0.0005829784327349707,
+              0.0006245799525952389,
+              0.03504367284921861
+            ],
+            "button_min_z_position": [
+              0.1259578019380569,
+              -0.407819002866745,
+              0.7693902254104614
+            ],
+            "min_active_finger_to_button": 0.14512737494852262,
+            "closest_active_finger": [
+              -0.000691145658493042,
+              -0.4696198105812073,
+              0.8105767369270325
+            ],
+            "closest_active_finger_button": [
+              0.12605510652065274,
+              -0.4078113138675689,
+              0.7762685418128967
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12674625217914579,
+              -0.06180849671363836,
+              0.03430819511413574
+            ],
+            "min_contact_pad_to_button": 0.020994491986159776,
+            "closest_contact_pad": [
+              0.1259578019380569,
+              -0.4084348761294216,
+              0.7903756821336602
+            ],
+            "closest_contact_pad_button": [
+              0.1259578019380569,
+              -0.407819002866745,
+              0.7693902254104614
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006158732626765917,
+              0.020985456723198737
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "41010c8fa8288e866348c919209a83a7fb676c0ec58d0fc843d9b87dd88cbc9a",
+    "visual_seed": 9117909738231281015,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6df1928d23b113cead4ea5d31a9df9ca80a961b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_2_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007693648338317871,
+            "max_z_decrease": 0.007693648338317871,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035045520921491505,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007693648338317871,
+            "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": 0.020998489313556745,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007693648338317871,
+            "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": 0.007694199156674137,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12944665551185605,
+              -0.4103999137878418,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12944665551185605,
+              -0.4103999137878418,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12864002259564014,
+              -0.40912827172119287,
+              0.8053040332679724
+            ],
+            "closest_button": [
+              0.12935461103916163,
+              -0.4104081690311432,
+              0.7702891826629639
+            ],
+            "closest_ee_minus_button": [
+              -0.0007145884435214855,
+              0.0012798973099503175,
+              0.03501485060500853
+            ],
+            "button_min_z_position": [
+              0.12935465574264524,
+              -0.41040337085723877,
+              0.7691152095794678
+            ],
+            "min_active_finger_to_button": 0.14608790437061137,
+            "closest_active_finger": [
+              0.002565734088420868,
+              -0.474134236574173,
+              0.8110005259513855
+            ],
+            "closest_active_finger_button": [
+              0.1294429302215576,
+              -0.41039869189262396,
+              0.7766256332397461
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12687719613313672,
+              -0.06373554468154902,
+              0.034374892711639404
+            ],
+            "min_contact_pad_to_button": 0.020998489313556745,
+            "closest_contact_pad": [
+              0.12935465574264524,
+              -0.41040337085723877,
+              0.7901136988930245
+            ],
+            "closest_contact_pad_button": [
+              0.12935465574264524,
+              -0.41040337085723877,
+              0.7691152095794678
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020998489313556745
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "850bed8b4ed48d9a49e2f36ff2c40112b5bf05504a9f218d965023eef77005b9",
+    "visual_seed": 2751745680006421021,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f54bbf0fe4172e0370d1bb3d7d7e821555ccfe08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_30_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34386727284606056,
+              -0.055130276040217155,
+              1.0054274229090256
+            ],
+            "current_z": 1.0054274229090256,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14432091489425947,
+            "gripper_z": 1.005816114406837,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34004801339357393,
+              -0.05931024326481757,
+              1.005816114406837
+            ],
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+              0.003819259452486623,
+              0.004179967224600414,
+              -0.00038869149781128876
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+            "object_to_gripper_xy": 0.005662055171414538,
+            "object_to_gripper_z": -0.00038869149781128876,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34386727284606056,
+              -0.07867212369066809,
+              1.0054274229090256
+            ],
+            "finger_b": [
+              0.33299530879703443,
+              -0.055130276040217155,
+              1.0054274229090256
+            ],
+            "finger_midpoint": [
+              0.3384312908215475,
+              -0.06690119986544263,
+              1.0054274229090256
+            ],
+            "object_minus_finger_midpoint": [
+              0.005435982024513064,
+              0.011770923825225474,
+              0.0
+            ],
+            "finger_gap": 0.025931027613273615,
+            "fingertip_max_gap": 0.09334201881854373,
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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": 1.0054274229090256,
+            "object_top_z": 1.0552592963010277,
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+            "fingertip_min_top_clearance": 0.014949562017600587,
+            "object_projection_between_fingers": 0.8242171263364511,
+            "object_to_finger_line_xy": 0.009870265271413266,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04917100940927187,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1803934579791453,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23747802081260083,
+              0.2669816137171395,
+              0.756586612394249
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+            "gripper_position": [
+              0.24608971239023986,
+              0.23281582990116317,
+              1.030916861180152
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+            "target_minus_gripper": [
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+              0.03416578381597635,
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+              1.0304765011315804
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+            "held_minus_target": [
+              0.012541293609993398,
+              -0.03010137597766402,
+              0.27388988873733144
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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": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43b905ad163257fcecae93b7a560f9587b18202656e94eed1333719f4cffd0fe",
+    "visual_seed": 9080762876058882632,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8f4acd6048e207b3c8ff0f78daf0d8d1fa7af9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_31_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3427601001814228,
+              -0.05675024640161679,
+              1.0032106320525591
+            ],
+            "current_z": 1.0032106320525591,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.1421042432470827,
+            "gripper_z": 1.003548036636729,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33870070506569305,
+              -0.06092847987129864,
+              1.003548036636729
+            ],
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+              0.004059395115729725,
+              0.0041782334696818454,
+              -0.00033740458416997576
+            ],
+            "object_to_gripper_xy": 0.005825489132491789,
+            "object_to_gripper_z": -0.00033740458416997576,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3427601001814228,
+              -0.0807114861621549,
+              1.0032106320525591
+            ],
+            "finger_b": [
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+              -0.05675024640161679,
+              1.0032106320525591
+            ],
+            "finger_midpoint": [
+              0.3374891586434289,
+              -0.06873086628188585,
+              1.0032106320525591
+            ],
+            "object_minus_finger_midpoint": [
+              0.005270941537993901,
+              0.011980619880269057,
+              0.0
+            ],
+            "finger_gap": 0.026177706348146493,
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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": 1.0032106320525591,
+            "object_top_z": 1.0530837130725343,
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+            "fingertip_min_top_clearance": 0.014961924305992568,
+            "object_projection_between_fingers": 0.8378289955352335,
+            "object_to_finger_line_xy": 0.00964930175898265,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049107215178534544,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.985400949043724,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.2674958334087542,
+              0.7565864865017752
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+            "gripper_position": [
+              0.24864484629935027,
+              0.23179076193557302,
+              1.0240569718849328
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+            "target_minus_gripper": [
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+              0.035705071473181194,
+              -0.26747048538315765
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+            "held_position": [
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+              0.23594896909347682,
+              1.0236290723582149
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+            "held_minus_target": [
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+              0.004158207157903798,
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+            "held_gripper_dist": 0.005831382795642243,
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+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0240569718849328,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.1613597282566,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 3.376820805573437,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9713826046477445,
+            "max_source_tilt_deg": 89.98141992162932,
+            "source_upright_tilt_deg": 3.6542313524422165,
+            "max_source_upright_tilt_deg": 89.64717940677055,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9713826046477445,
+            "source_upright_return_tilt_deg": 3.6542313524422165,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.996315619102552e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
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+            "target_start_tilt_deg": 0.03956380994302662,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 2.5441881649397974e-05,
+            "max_target_tilt_deg": 0.0002647579471429809,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2405,
+                0.2675,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.2675,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                  0.2
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6093010902404785
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
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+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_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": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.27846892184575434,
+              -0.3527524782059215,
+              0.8470195883418399
+            ],
+            "target_position": [
+              0.27153410381126203,
+              -0.35292953083887035,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006937077829054095,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18553653462062944,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195883418399,
+            "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": 0.07537212045129743,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531949037679164,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15381525823830786,
+            "release_required_pad_clearance": 0.05265974518839582,
+            "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": 0.37742316128094566,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007649242877960205,
+            "max_z_decrease": 0.007649242877960205,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507038500572386,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007649242877960205,
+            "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": 0.021010151414850787,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007649242877960205,
+            "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": 0.007649715636443873,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12723402678966522,
+              -0.409190982580185,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12723402678966522,
+              -0.409190982580185,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1284611149024928,
+              -0.40836484400304496,
+              0.8043524101597018
+            ],
+            "closest_button": [
+              0.1271282285451889,
+              -0.4091980457305908,
+              0.7693172693252563
+            ],
+            "closest_ee_minus_button": [
+              0.0013328863573038863,
+              0.0008332017275458625,
+              0.03503514083444548
+            ],
+            "button_min_z_position": [
+              0.1271493136882782,
+              -0.40919849276542664,
+              0.7691596150398254
+            ],
+            "min_active_finger_to_button": 0.1444314450464218,
+            "closest_active_finger": [
+              0.00234367698431015,
+              -0.4730752110481262,
+              0.811039388179779
+            ],
+            "closest_active_finger_button": [
+              0.1272333860397339,
+              -0.40918833017349243,
+              0.7766668796539307
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12488970905542374,
+              -0.06388688087463379,
+              0.03437250852584839
+            ],
+            "min_contact_pad_to_button": 0.021010151414850787,
+            "closest_contact_pad": [
+              0.12713725864887238,
+              -0.4093861842861868,
+              0.7902554790740155
+            ],
+            "closest_contact_pad_button": [
+              0.12713725864887238,
+              -0.40919905900955206,
+              0.7692461609840393
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00018712527663472533,
+              0.021009318089976192
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7aca10274992e4eafaae80fec67b0ffe7fe81b321be1d4193c0196d45959af03",
+    "visual_seed": 4789065433055470556,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fb34b19745339eb133f6dc04e808f5918e4dd19
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_32_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
+              0.34288743699762075,
+              -0.05649947401181796,
+              1.0047088715063304
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+            "current_z": 1.0047088715063304,
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+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1436023634915644,
+            "gripper_z": 1.0051214176371153,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3389508180371913,
+              -0.06058617147546842,
+              1.0051214176371153
+            ],
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+              0.003936618960429461,
+              0.0040866974636504655,
+              -0.00041254613078489655
+            ],
+            "object_to_gripper_xy": 0.005674333881524762,
+            "object_to_gripper_z": -0.00041254613078489655,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.34288743699762075,
+              -0.08044710776461413,
+              1.0047088715063304
+            ],
+            "finger_b": [
+              0.33256092821235006,
+              -0.05649947401181796,
+              1.0047088715063304
+            ],
+            "finger_midpoint": [
+              0.3377241826049854,
+              -0.06847329088821605,
+              1.0047088715063304
+            ],
+            "object_minus_finger_midpoint": [
+              0.005163254392635375,
+              0.011973816876398091,
+              0.0
+            ],
+            "finger_gap": 0.02607922441427918,
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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": 1.0047088715063304,
+            "object_top_z": 1.054736302346233,
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+            "fingertip_min_top_clearance": 0.015008229251970805,
+            "object_projection_between_fingers": 0.8432102402333863,
+            "object_to_finger_line_xy": 0.009482469509303816,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04947892899008201,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.376506189765388,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "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",
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+                },
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+                "dummy_base_revolute_z_joint",
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+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
+                "joint2",
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+                "joint5",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
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+                "panda_joint1",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
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+            "max_z_decrease": 0.007575392723083496,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507446967168147,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007575392723083496,
+            "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": 0.02118220822280702,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007575392723083496,
+            "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": 0.007575872800342593,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12527285516262054,
+              -0.4103965163230896,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12527285516262054,
+              -0.4103965163230896,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12349940390168326,
+              -0.4123495222585198,
+              0.8042129131408927
+            ],
+            "closest_button": [
+              0.12518759071826935,
+              -0.4103984534740448,
+              0.7692334651947021
+            ],
+            "closest_ee_minus_button": [
+              -0.0016881868165860847,
+              -0.0019510687844749852,
+              0.03497944794619057
+            ],
+            "button_min_z_position": [
+              0.12518759071826935,
+              -0.4103984534740448,
+              0.7692334651947021
+            ],
+            "min_active_finger_to_button": 0.1473543447888616,
+            "closest_active_finger": [
+              -0.017349816858768463,
+              -0.39681437611579895,
+              0.8111739158630371
+            ],
+            "closest_active_finger_button": [
+              0.1252738982439041,
+              -0.41039791703224177,
+              0.7767171859741211
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14262371510267258,
+              0.013583540916442816,
+              0.034456729888916016
+            ],
+            "min_contact_pad_to_button": 0.02118220822280702,
+            "closest_contact_pad": [
+              0.12518759071826935,
+              -0.4134907250188526,
+              0.7901887461970539
+            ],
+            "closest_contact_pad_button": [
+              0.12518759071826935,
+              -0.4103984534740448,
+              0.7692334651947021
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030922715448077898,
+              0.020955281002351778
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d2c98cf632f9f928b01bd2fa4b72b8ee6ba062ca5b6c008996e56d4ac6359af5",
+    "visual_seed": 2371820852051594748,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c886dae4f0e5931b95a414c558690a480981c42
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_33_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34012112451903703,
+              -0.052421565120710834,
+              1.0050148811861939
+            ],
+            "current_z": 1.0050148811861939,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14390837317142768,
+            "gripper_z": 1.0055395874427178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3360112386551621,
+              -0.0566162812051131,
+              1.0055395874427178
+            ],
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+              0.004109885863874951,
+              0.004194716084402264,
+              -0.0005247062565238991
+            ],
+            "object_to_gripper_xy": 0.005872546708441085,
+            "object_to_gripper_z": -0.0005247062565238991,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34012112451903703,
+              -0.07642856943587183,
+              1.0050148811861939
+            ],
+            "finger_b": [
+              0.32957300975578724,
+              -0.052421565120710834,
+              1.0050148811861939
+            ],
+            "finger_midpoint": [
+              0.33484706713741214,
+              -0.06442506727829134,
+              1.0050148811861939
+            ],
+            "object_minus_finger_midpoint": [
+              0.005274057381624897,
+              0.012003502157580503,
+              0.0
+            ],
+            "finger_gap": 0.026222108634639717,
+            "fingertip_max_gap": 0.09340085355744346,
+            "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": 1.0050148811861939,
+            "object_top_z": 1.0548811491423646,
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+            "fingertip_min_top_clearance": 0.014959880386851232,
+            "object_projection_between_fingers": 0.838186605720486,
+            "object_to_finger_line_xy": 0.009657066110374996,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04920042677872173,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1648466186948734,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.2704195192275067,
+              0.7565861967083273
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+            "gripper_position": [
+              0.24689169386538173,
+              0.2341521903701528,
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+            "held_minus_target": [
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+              0.004130647846542962,
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+            "held_gripper_dist": 0.005892098093613669,
+            "max_held_gripper_dist": 0.005898594517380563,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565861967083273,
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+            "required_height": 0.7865861967083273,
+            "gripper_z": 1.0247558203699225,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.17424829522042,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 3.643818563610845,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.2444410331242555,
+            "max_source_tilt_deg": 89.691407726001,
+            "source_upright_tilt_deg": 3.4122181650740684,
+            "max_source_upright_tilt_deg": 89.964478861834,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.2444410331242555,
+            "source_upright_return_tilt_deg": 3.4122181650740684,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.7798901955012064e-07,
+            "max_target_xy_drift": 9.00674215738751e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.03956467973750116,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0005159103431400614,
+            "max_target_tilt_deg": 0.0006293933386344595,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
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+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a5fad7f76bf8b205c3b866722891d405a986407
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_34_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "metrics": {
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+              1.0038453250433474
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+            "object_to_gripper_z": -0.0009169677186287029,
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+              1.0038453250433474
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+              -0.06836944076434012,
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+              0.011843485733201986,
+              0.0
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+              1.0
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+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
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+          }
+        },
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.23287689391567923,
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+            "missing_end_effector_orientation_samples": 0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08690864603359875,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1544456399536761,
+            "release_required_pad_clearance": 0.05345432301679938,
+            "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": 1.922068096346616,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0072509050369262695,
+            "max_z_decrease": 0.0072509050369262695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509104707920844,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072509050369262695,
+            "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": 0.02115870594120517,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0072509050369262695,
+            "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": 0.0072514321288635695,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1226633563637733,
+              -0.4066811800003052,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1226633563637733,
+              -0.4066811800003052,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12065952023580948,
+              -0.40846314293161856,
+              0.8063795670142507
+            ],
+            "closest_button": [
+              0.12259823828935619,
+              -0.40668708086013794,
+              0.7713871598243713
+            ],
+            "closest_ee_minus_button": [
+              -0.0019387180535467147,
+              -0.001776062071480622,
+              0.03499240718987939
+            ],
+            "button_min_z_position": [
+              0.12257657945156095,
+              -0.40669184923171997,
+              0.7695579528808594
+            ],
+            "min_active_finger_to_button": 0.14780911999239812,
+            "closest_active_finger": [
+              -0.020472005009651184,
+              -0.39352431893348694,
+              0.8108992576599121
+            ],
+            "closest_active_finger_button": [
+              0.12265897542238233,
+              -0.4066806733608246,
+              0.7764323353767395
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1431309804320335,
+              0.013156354427337646,
+              0.03446692228317261
+            ],
+            "min_contact_pad_to_button": 0.02115870594120517,
+            "closest_contact_pad": [
+              0.12257657945156095,
+              -0.40963874937308026,
+              0.7905104376180747
+            ],
+            "closest_contact_pad_button": [
+              0.12257657945156095,
+              -0.40669184923171997,
+              0.7695579528808594
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002946900141360287,
+              0.020952484737215338
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1b1796d02982ba7cc8539279555ead635320a85b514127cc646512365ed1804",
+    "visual_seed": 3814480679401732556,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba487aec818c73e57c89efb8a00a05553bb40df
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_36_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3419603505339932,
+              -0.05548586671466983,
+              1.0032943703611972
+            ],
+            "current_z": 1.0032943703611972,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1421879219510761,
+            "gripper_z": 1.0036667026190116,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3377862185407709,
+              -0.05968012737256413,
+              1.0036667026190116
+            ],
+            "object_minus_gripper": [
+              0.0041741319932223075,
+              0.0041942606578943,
+              -0.0003723322578144117
+            ],
+            "object_to_gripper_xy": 0.005917364308811986,
+            "object_to_gripper_z": -0.0003723322578144117,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3419603505339932,
+              -0.07961616747375441,
+              1.0032943703611972
+            ],
+            "finger_b": [
+              0.3315255608149248,
+              -0.05548586671466983,
+              1.0032943703611972
+            ],
+            "finger_midpoint": [
+              0.336742955674459,
+              -0.06755101709421213,
+              1.0032943703611972
+            ],
+            "object_minus_finger_midpoint": [
+              0.005217394859534208,
+              0.012065150379542297,
+              0.0
+            ],
+            "finger_gap": 0.02628985072618431,
+            "fingertip_max_gap": 0.09328334343540653,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013144925363092162,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0032943703611972,
+            "object_top_z": 1.053155134202088,
+            "finger_top_clearance": 0.049860763840890776,
+            "fingertip_min_top_clearance": 0.014958229152267232,
+            "object_projection_between_fingers": 0.8424598832878504,
+            "object_to_finger_line_xy": 0.009577635753866847,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04914167171770327,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0733413064812143,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
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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": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d282891a809dec188dc8859ca98d144cc3c5bb26e313676e65acf5c8df6cae54",
+    "visual_seed": 8380379663326293997,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..441c2f1f434e4f862196931f6da9003fc3c0ab86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_37_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.34475339457899623,
+              -0.058670294613710636,
+              1.0023627643093447
+            ],
+            "current_z": 1.0023627643093447,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14125631589922338,
+            "gripper_z": 1.0027285542424773,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3408687746564914,
+              -0.06268115574751433,
+              1.0027285542424773
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+              0.004010861133803695,
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+            "object_to_gripper_z": -0.00036578993313263197,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.34475339457899623,
+              -0.08264287897130285,
+              1.0023627643093447
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+            "finger_b": [
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+              -0.058670294613710636,
+              1.0023627643093447
+            ],
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+              0.3396898657199893,
+              -0.07065658679250675,
+              1.0023627643093447
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011986292178796112,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009328808268524882,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04941718520900072,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.2692432459656492,
+              0.756586388199276
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+            "gripper_position": [
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+              0.23511974070047778,
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+              0.004036793995471605,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.0990888935936,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.62800876055212,
+            "source_upright_tilt_deg": 3.754694549148749,
+            "max_source_upright_tilt_deg": 89.88131296455752,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 0.7695560952858985,
+            "source_upright_return_tilt_deg": 3.754694549148749,
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+            "target_xy_drift": 1.1920928955078125e-07,
+            "max_target_xy_drift": 5.204751848153168e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
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+              "controller_target_position": [
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+                0.2692,
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+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                  0.4
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+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
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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",
+                "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": 4,
+      "skill": "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": [
+              0.2751673382931663,
+              -0.3565515908330375,
+              0.847019451379214
+            ],
+            "target_position": [
+              0.2680294483740813,
+              -0.3567619821593137,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007140989917871841,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18652755523894546,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019451379214,
+            "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": 0.07526822376703055,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08574054908915905,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15512709110728984,
+            "release_required_pad_clearance": 0.05287027454457953,
+            "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": 0.7823424577791875,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007673442363739014,
+            "max_z_decrease": 0.007673442363739014,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504317795340098,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007673442363739014,
+            "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": 0.02101879593564764,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007673442363739014,
+            "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": 0.0076739067745482245,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12372937798500058,
+              -0.41302344202995295,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12372937798500058,
+              -0.41302344202995295,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12450805740324267,
+              -0.4127858979643973,
+              0.804393831018409
+            ],
+            "closest_button": [
+              0.12362296134233472,
+              -0.41303074359893793,
+              0.7693626880645752
+            ],
+            "closest_ee_minus_button": [
+              0.0008850960609079472,
+              0.0002448456345406358,
+              0.035031142953833805
+            ],
+            "button_min_z_position": [
+              0.12364514172077176,
+              -0.4130290746688842,
+              0.7691354155540466
+            ],
+            "min_active_finger_to_button": 0.14504936836598867,
+            "closest_active_finger": [
+              -0.002921387553215027,
+              -0.474839985370636,
+              0.8110017776489258
+            ],
+            "closest_active_finger_button": [
+              0.12372811883687972,
+              -0.41302201151847834,
+              0.7766832709312439
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12664950639009476,
+              -0.06181797385215765,
+              0.034318506717681885
+            ],
+            "min_contact_pad_to_button": 0.02101879593564764,
+            "closest_contact_pad": [
+              0.12362724542617795,
+              -0.4140698852979786,
+              0.7902865877667399
+            ],
+            "closest_contact_pad_button": [
+              0.12362724542617795,
+              -0.4130308926105498,
+              0.769293487071991
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001038992687428797,
+              0.020993100694748912
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec3853ab5ca345153a896364428c5bcef60103a69d112a13930e8253c7e50759",
+    "visual_seed": 8076900336307527176,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1020c0c79813c745057f24aa1373507251d2ad6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_38_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.34214471237044325,
+              -0.05462584409678223,
+              1.005351437822909
+            ],
+            "current_z": 1.005351437822909,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14424492980814285,
+            "gripper_z": 1.0058203306348328,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3380001361906606,
+              -0.05880231280030647,
+              1.0058203306348328
+            ],
+            "object_minus_gripper": [
+              0.004144576179782644,
+              0.0041764687035242415,
+              -0.00046889281192386
+            ],
+            "object_to_gripper_xy": 0.005883910480415143,
+            "object_to_gripper_z": -0.00046889281192386,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34214471237044325,
+              -0.07875442319545907,
+              1.005351437822909
+            ],
+            "finger_b": [
+              0.3317455849636357,
+              -0.05462584409678223,
+              1.005351437822909
+            ],
+            "finger_midpoint": [
+              0.3369451486670395,
+              -0.06669013364612064,
+              1.005351437822909
+            ],
+            "object_minus_finger_midpoint": [
+              0.005199563703403742,
+              0.012064289549338414,
+              0.0
+            ],
+            "finger_gap": 0.026274135193077634,
+            "fingertip_max_gap": 0.09308847962832714,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0131370675965388,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.005351437822909,
+            "object_top_z": 1.055197416662325,
+            "finger_top_clearance": 0.049845978839416105,
+            "fingertip_min_top_clearance": 0.01495379365182483,
+            "object_projection_between_fingers": 0.8433476415583643,
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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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075874924659729,
+            "max_z_decrease": 0.0075874924659729,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035097009054948086,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075874924659729,
+            "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": 0.021074994795686006,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0075874924659729,
+            "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": 0.007588064949492045,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12967796623706818,
+              -0.41196039319038386,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12967796623706818,
+              -0.41196039319038386,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13112449194292222,
+              -0.4127252780219885,
+              0.8061554126979752
+            ],
+            "closest_button": [
+              0.12960433959960938,
+              -0.4119684994220733,
+              0.7710995078086853
+            ],
+            "closest_ee_minus_button": [
+              0.0015201523433128472,
+              -0.0007567785999151866,
+              0.03505590488928989
+            ],
+            "button_min_z_position": [
+              0.12958484888076782,
+              -0.4119645059108734,
+              0.7692213654518127
+            ],
+            "min_active_finger_to_button": 0.1445376511381762,
+            "closest_active_finger": [
+              -0.00996815413236618,
+              -0.3974956274032593,
+              0.8107463121414185
+            ],
+            "closest_active_finger_button": [
+              0.12967322766780853,
+              -0.41195887327194214,
+              0.7763627171516418
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1396413818001747,
+              0.014463245868682861,
+              0.03438359498977661
+            ],
+            "min_contact_pad_to_button": 0.021074994795686006,
+            "closest_contact_pad": [
+              0.12958484888076782,
+              -0.4138687032496133,
+              0.7902101586075263
+            ],
+            "closest_contact_pad_button": [
+              0.12958484888076782,
+              -0.4119645059108734,
+              0.7692213654518127
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019041973387398659,
+              0.02098879315571356
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "89bbb766cf0aad24c66827ab6739385d1944b08ae9e3f56a150fa72a46152bfb",
+    "visual_seed": 9038843034282253351,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59ae1efeb91d15913ad868dae6233d45226b9d6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_39_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3406525718559007,
+              -0.05350975824375406,
+              1.0020907890294155
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+            "current_z": 1.0020907890294155,
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+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1409841618053599,
+            "gripper_z": 1.0032219951221903,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.336662197212532,
+              -0.05777467732542417,
+              1.0032219951221903
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+              0.004264919081670107,
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+            "object_to_gripper_z": -0.001131206092774839,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3406525718559007,
+              -0.0771691149780845,
+              1.0020907890294155
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+            "finger_b": [
+              0.3296739912258364,
+              -0.05350975824375406,
+              1.0020907890294155
+            ],
+            "finger_midpoint": [
+              0.33516328154086855,
+              -0.06533943661091929,
+              1.0020907890294155
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+            "object_minus_finger_midpoint": [
+              0.005489290315032147,
+              0.011829678367165225,
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+            ],
+            "finger_gap": 0.026082453752151655,
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+            "finger_z_skew": 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": 0.04915800702792812,
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+              1.0
+            ],
+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565864478039208
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+              0.23387840829729373,
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+            "max_wrist_deg": 120.17711014448265,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 2.5127339967570066,
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+            "max_source_tilt_deg": 89.67846580779582,
+            "source_upright_tilt_deg": 2.4862494258603287,
+            "max_source_upright_tilt_deg": 89.91332418005356,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.257332905922081,
+            "source_upright_return_tilt_deg": 2.4862494258603287,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.332000937312528e-08,
+            "max_target_xy_drift": 2.8312206268310547e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
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+                "wrist_1_joint",
+                "wrist_2_joint",
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+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c0a65ba801be5e938dcbd3f9994287a0f76ffb172466e344e27845d8ceb58a06",
+    "visual_seed": 451521430839425129,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ce79aac3549859dbfd349eb4d83d731498871ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_3_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              -0.05034335061255158,
+              1.0028059589835774
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+              1.003331333034485
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+              0.004230172078927931,
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+            "object_to_gripper_z": -0.0005253740509076898,
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+              -0.07452849331605918,
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+              -0.06243592196430538,
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+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+              0.23606147030104596,
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+            "valid_pour_pose_frames": 0,
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+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2733322568686323,
+              -0.3523137977401609,
+              0.8470198451140347
+            ],
+            "target_position": [
+              0.2663337216434233,
+              -0.35237276555567254,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006998783644445459,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18831763816898214,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198451140347,
+            "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": 0.07549103752335509,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572374172923398,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15626832604809002,
+            "release_required_pad_clearance": 0.052861870864616994,
+            "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": 0.7651456758365687,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007525742053985596,
+            "max_z_decrease": 0.007525742053985596,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508198937508675,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007525742053985596,
+            "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": 0.02099333510105461,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007525742053985596,
+            "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": 0.007526317524601198,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1220336481928825,
+              -0.40863421559333796,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1220336481928825,
+              -0.40863421559333796,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1200415775242323,
+              -0.4072962779343732,
+              0.8050535834488307
+            ],
+            "closest_button": [
+              0.12193479388952252,
+              -0.40864935517311085,
+              0.7700488567352295
+            ],
+            "closest_ee_minus_button": [
+              -0.0018932163652902179,
+              0.0013530772387376766,
+              0.03500472671360122
+            ],
+            "button_min_z_position": [
+              0.12194079905748363,
+              -0.4086406230926513,
+              0.7692831158638
+            ],
+            "min_active_finger_to_button": 0.14699279016745512,
+            "closest_active_finger": [
+              -0.007523499429225922,
+              -0.468991219997406,
+              0.8108158111572266
+            ],
+            "closest_active_finger_button": [
+              0.12202800065279004,
+              -0.40863439440727234,
+              0.7764596939086914
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12955150008201596,
+              -0.06035682559013367,
+              0.034356117248535156
+            ],
+            "min_contact_pad_to_button": 0.02099333510105461,
+            "closest_contact_pad": [
+              0.12194079905748363,
+              -0.4086406230926513,
+              0.7902764509648547
+            ],
+            "closest_contact_pad_button": [
+              0.12194079905748363,
+              -0.4086406230926513,
+              0.7692831158638
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02099333510105461
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "160217471ab8219cd1f9bf7e5b1f9cea32ec0683cedbd9838650178cf378395d",
+    "visual_seed": 8084211901681516038,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d26efdaaebb8326aeeb8d1395e1ad205b7003c42
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_40_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34324166187434996,
+              -0.05569900904942133,
+              1.002742420694375
+            ],
+            "current_z": 1.002742420694375,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.14163579347031952,
+            "gripper_z": 1.0035280037267111,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3395671319949772,
+              -0.05977925525972953,
+              1.0035280037267111
+            ],
+            "object_minus_gripper": [
+              0.0036745298793727788,
+              0.004080246210308204,
+              -0.0007855830323362234
+            ],
+            "object_to_gripper_xy": 0.005490954286017849,
+            "object_to_gripper_z": -0.0007855830323362234,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34324166187434996,
+              -0.07916229287337959,
+              1.002742420694375
+            ],
+            "finger_b": [
+              0.3325609217064034,
+              -0.05569900904942133,
+              1.002742420694375
+            ],
+            "finger_midpoint": [
+              0.33790129179037665,
+              -0.06743065096140045,
+              1.002742420694375
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053403700839733115,
+              0.011731641911979125,
+              0.0
+            ],
+            "finger_gap": 0.025779912690674662,
+            "fingertip_max_gap": 0.09289873753678898,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01288995634533734,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002742420694375,
+            "object_top_z": 1.0526087197894411,
+            "finger_top_clearance": 0.049866299095066235,
+            "fingertip_min_top_clearance": 0.014959889728519887,
+            "object_projection_between_fingers": 0.82835157780397,
+            "object_to_finger_line_xy": 0.009720949834757684,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048949368768394494,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7888270642698756,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              -0.0034522786736488342,
+              -0.4788329005241394,
+              0.8109682202339172
+            ],
+            "closest_active_finger_button": [
+              0.12328068166971203,
+              -0.4145050346851349,
+              0.7765502333641052
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12673296034336085,
+              -0.06432786583900452,
+              0.03441798686981201
+            ],
+            "min_contact_pad_to_button": 0.021016259986447686,
+            "closest_contact_pad": [
+              0.12318398803472516,
+              -0.41546895669058354,
+              0.7900414785625764
+            ],
+            "closest_contact_pad_button": [
+              0.12318398803472516,
+              -0.41451582312583923,
+              0.7690468430519104
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009531335647443018,
+              0.02099463551066605
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "75d1323b470cfa924dd01122e19adc059051cb498f2ce1e3e767d044f6abb693",
+    "visual_seed": 2437591429377351819,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8646541ca95ef4468dc5e696e8e1aae36066113
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_42_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3362438401479079,
+              -0.060571114075274615,
+              1.0020335810003589
+            ],
+            "current_z": 1.0020335810003589,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1409271325902376,
+            "gripper_z": 1.0026195747529778,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3320956972658942,
+              -0.06475357715122174,
+              1.0026195747529778
+            ],
+            "object_minus_gripper": [
+              0.004148142882013706,
+              0.004182463075947121,
+              -0.0005859937526189185
+            ],
+            "object_to_gripper_xy": 0.005890677953450012,
+            "object_to_gripper_z": -0.0005859937526189185,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3362438401479079,
+              -0.0846941627049526,
+              1.0020335810003589
+            ],
+            "finger_b": [
+              0.32581609466106703,
+              -0.060571114075274615,
+              1.0020335810003589
+            ],
+            "finger_midpoint": [
+              0.3310299674044875,
+              -0.07263263839011361,
+              1.0020335810003589
+            ],
+            "object_minus_finger_midpoint": [
+              0.005213872743420445,
+              0.012061524314838992,
+              0.0
+            ],
+            "finger_gap": 0.026280398610526046,
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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": 1.0020335810003589,
+            "object_top_z": 1.052008471457272,
+            "finger_top_clearance": 0.04997489045691306,
+            "fingertip_min_top_clearance": 0.014992467137073933,
+            "object_projection_between_fingers": 0.8425593228257671,
+            "object_to_finger_line_xy": 0.00957173501075497,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04909510844039257,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9692293280270694,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23726643806214223,
+              0.264712887253007,
+              0.7565863262425336
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+            "gripper_position": [
+              0.24429950429677394,
+              0.22911210192469506,
+              1.023661440974025
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+            "target_minus_gripper": [
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+              0.03560078532831196,
+              -0.26707511473149137
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+            "held_position": [
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+              0.23324392603579458,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004131824111099525,
+              -0.0006742584564367604
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+            "xy_dist": 0.03628884038727703,
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+            "held_gripper_dist": 0.005915066299351963,
+            "max_held_gripper_dist": 0.005921848501133787,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863262425336,
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+            "gripper_z": 1.023661440974025,
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+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.14562980259807,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 3.783473212474538,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.2177315417862067,
+            "max_source_tilt_deg": 89.63322569082405,
+            "source_upright_tilt_deg": 3.4954679148727603,
+            "max_source_upright_tilt_deg": 89.9922017561005,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.2177315417862067,
+            "source_upright_return_tilt_deg": 3.4954679148727603,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.546956966384626e-08,
+            "max_target_xy_drift": 4.936965116776007e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.03956467706605832,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 1.2919939687890481e-05,
+            "max_target_tilt_deg": 0.00044383585387178633,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2373,
+                0.2647,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.2647,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+            "required_stable_lift_frames": 5
+          },
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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",
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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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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "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": "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": 4,
+      "skill": "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": [
+              0.2749057662522494,
+              -0.35667185572887167,
+              0.8470201909851391
+            ],
+            "target_position": [
+              0.26832793415653294,
+              -0.35645378070543066,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006581446026162193,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1878067429241309,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201909851391,
+            "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": 0.07522392481237929,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858010707897819,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1563369014399191,
+            "release_required_pad_clearance": 0.05290053539489095,
+            "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": 0.839294938611117,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007547616958618164,
+            "max_z_decrease": 0.007547616958618164,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035052747559063575,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007547616958618164,
+            "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": 0.021122037841744566,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007547616958618164,
+            "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": 0.0075480365298257355,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12402786314487454,
+              -0.4127152264118195,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12402786314487454,
+              -0.4127152264118195,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12235228614462701,
+              -0.4140278606271375,
+              0.8049331198924977
+            ],
+            "closest_button": [
+              0.1239495351910591,
+              -0.41272011399269104,
+              0.7699412107467651
+            ],
+            "closest_ee_minus_button": [
+              -0.0015972490464320893,
+              -0.0013077466344464383,
+              0.03499190914573258
+            ],
+            "button_min_z_position": [
+              0.12394838035106656,
+              -0.41271924972534185,
+              0.7692612409591675
+            ],
+            "min_active_finger_to_button": 0.14735769064134277,
+            "closest_active_finger": [
+              -0.018357664346694946,
+              -0.39668595790863037,
+              0.8111642599105835
+            ],
+            "closest_active_finger_button": [
+              0.12402637302875516,
+              -0.41271647810935974,
+              0.7767535448074341
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1423840373754501,
+              0.01603052020072937,
+              0.034410715103149414
+            ],
+            "min_contact_pad_to_button": 0.021122037841744566,
+            "closest_contact_pad": [
+              0.12394838035106656,
+              -0.4153468661263525,
+              0.7902192016098899
+            ],
+            "closest_contact_pad_button": [
+              0.12394838035106656,
+              -0.41271924972534185,
+              0.7692612409591675
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026276164010106684,
+              0.020957960650722418
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c75d367cff21b063257fcd688010840e6cecdae179c9ceab19e1a0cf045c6b14",
+    "visual_seed": 8909298747666169355,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..219770fcb014a3570a2cff4fc633430d402d21bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_43_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33946926930029214,
+              -0.05379747583491845,
+              1.0014330915143388
+            ],
+            "current_z": 1.0014330915143388,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1403266431042175,
+            "gripper_z": 1.0026216266191097,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3353261294278662,
+              -0.05801262059291379,
+              1.0026216266191097
+            ],
+            "object_minus_gripper": [
+              0.004143139872425927,
+              0.004215144757995337,
+              -0.0011885351047709047
+            ],
+            "object_to_gripper_xy": 0.0059104190488781,
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007734358310699463,
+            "max_z_decrease": 0.007734358310699463,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035077240784819226,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007734358310699463,
+            "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": 0.02099059394743308,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007734358310699463,
+            "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": 0.007734995653630036,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12743045389652252,
+              -0.414509117603302,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12743045389652252,
+              -0.414509117603302,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12762626563333127,
+              -0.41288182165897613,
+              0.804597059845167
+            ],
+            "closest_button": [
+              0.1273304969072342,
+              -0.41451579332351685,
+              0.7695591449737549
+            ],
+            "closest_ee_minus_button": [
+              0.00029576872609707316,
+              0.001633971664540712,
+              0.03503791487141217
+            ],
+            "button_min_z_position": [
+              0.12733134627342224,
+              -0.41451519727706904,
+              0.7690744996070862
+            ],
+            "min_active_finger_to_button": 0.14498751322056877,
+            "closest_active_finger": [
+              0.0002857223153114319,
+              -0.4751806855201721,
+              0.8108640909194946
+            ],
+            "closest_active_finger_button": [
+              0.1274247169494629,
+              -0.41450667381286616,
+              0.7765753269195557
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12713899463415146,
+              -0.060674011707305964,
+              0.034288763999938965
+            ],
+            "min_contact_pad_to_button": 0.02099059394743308,
+            "closest_contact_pad": [
+              0.12733134627342224,
+              -0.41451519727706904,
+              0.7900650935545193
+            ],
+            "closest_contact_pad_button": [
+              0.12733134627342224,
+              -0.41451519727706904,
+              0.7690744996070862
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02099059394743308
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b4c044dea8ae9a6abca4d96ed3af8cf8b398ae68b31c4406882e128351b2e74",
+    "visual_seed": 102865273004832806,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e2977ff2c94fa4f831cdd2a6212404422daac9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_44_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3407744848911917,
+              -0.05155520168767147,
+              1.0029953205041904
+            ],
+            "current_z": 1.0029953205041904,
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+            "lift_margin": 0.14188875288477965,
+            "gripper_z": 1.003903988931182,
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+            "gripper_position": [
+              0.33650212387196954,
+              -0.05589035458736587,
+              1.003903988931182
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+              0.004335152899694397,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.3407744848911917,
+              -0.0756630954739067,
+              1.0029953205041904
+            ],
+            "finger_b": [
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+              -0.05155520168767147,
+              1.0029953205041904
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+            "finger_midpoint": [
+              0.3353971197704213,
+              -0.06360914858078909,
+              1.0029953205041904
+            ],
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+              0.012053946893117617,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.009821722370452835,
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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
+            ],
+            "stable_success_frames": 168,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565862484351142
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+            "missing_held_position_samples": 0,
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+            "required_height": 0.7865862484351143,
+            "gripper_z": 1.0312100689660562,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.10682749792322,
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "264530067c719f28b97ba4cd57a734a14ded7e6780e23bf21a8c2bf66caf8ad2",
+    "visual_seed": 16678873690447153,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6ec69ac1c783d9d64417094618116f20307419d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_45_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "metrics": {
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+              0.3392365090180469,
+              -0.056334910878467336,
+              1.0049961070619053
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+            "gripper_z": 1.0055358349598373,
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+            "gripper_position": [
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+              -0.060469626075025415,
+              1.0055358349598373
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+              0.0041347151965580795,
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+            "object_to_gripper_z": -0.0005397278979319964,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.08041494672339576,
+              1.0049961070619053
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+            "finger_b": [
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+              -0.056334910878467336,
+              1.0049961070619053
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+            "finger_midpoint": [
+              0.3340633839644882,
+              -0.06837492880093154,
+              1.0049961070619053
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+              0.01204001792246421,
+              0.0
+            ],
+            "finger_gap": 0.026208643947599905,
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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": 171,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
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+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.27067592162170223,
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+              0.23400192547963805,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
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+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+            "pour_controller_skill": "pour",
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+              0.4
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_axis_frame": "end_effector",
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.465042870475496,
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+                "wrist_1_joint",
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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/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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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.28057424540429937,
+              -0.35947552682224576,
+              0.8470197476358371
+            ],
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+              0.27388175729092584,
+              -0.35989374870805885,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006705542982743383,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466657902386022,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197476358371,
+            "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": 0.07557762520953991,
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+            "release_fingertip_min_gap": 0.08719461210188255,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15255774439754263,
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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": 2.2046780223038867,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007891416549682617,
+            "max_z_decrease": 0.007891416549682617,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351054591130305,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007891416549682617,
+            "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": 0.021159081208075112,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007891416549682617,
+            "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": 0.007891988281304947,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12958168983459473,
+              -0.41615521907806396,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12958168983459473,
+              -0.41615521907806396,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13091603845779734,
+              -0.41777099719847055,
+              0.8052490664870439
+            ],
+            "closest_button": [
+              0.1294999122619629,
+              -0.41616395115852356,
+              0.770209014415741
+            ],
+            "closest_ee_minus_button": [
+              0.0014161261958344495,
+              -0.001607046039946991,
+              0.035040052071302896
+            ],
+            "button_min_z_position": [
+              0.1294870525598526,
+              -0.41616344451904297,
+              0.768917441368103
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+            "min_active_finger_to_button": 0.1445480294885453,
+            "closest_active_finger": [
+              -0.010246478021144867,
+              -0.4036189019680023,
+              0.8110971450805664
+            ],
+            "closest_active_finger_button": [
+              0.12958180904388428,
+              -0.4161522388458252,
+              0.7766718864440918
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13982828706502914,
+              0.012533336877822876,
+              0.03442525863647461
+            ],
+            "min_contact_pad_to_button": 0.021159081208075112,
+            "closest_contact_pad": [
+              0.1294870525598526,
+              -0.4188193093285248,
+              0.7899091802118404
+            ],
+            "closest_contact_pad_button": [
+              0.1294870525598526,
+              -0.41616344451904297,
+              0.768917441368103
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026558648094818227,
+              0.020991738843737395
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2c796af96150e8384519b1285a21c731727ad9228c073367b101c9faf57ff690",
+    "visual_seed": 1709029709933017690,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b93d2066f1f62af1b911bc658c3a287df03fe7d3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_46_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+              1.0041208122621916
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+            "lift_margin": 0.14301442345671533,
+            "gripper_z": 1.004764083130599,
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+            "gripper_position": [
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+              -0.05567651261750323,
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+              0.3377289293066507,
+              -0.07542934588716795,
+              1.0041208122621916
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+            "finger_b": [
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+              -0.05148369774975564,
+              1.0041208122621916
+            ],
+            "finger_midpoint": [
+              0.33242773212816534,
+              -0.06345652181846179,
+              1.0041208122621916
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011972824068706145,
+              0.0
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+            "finger_gap": 0.026187875645448628,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009694608609088523,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04934777899372107,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.23915577533359,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "robotiq_2f85",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
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+                "joint3",
+                "joint4",
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+                "left_inner_finger",
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+                "panda_joint1",
+                "panda_joint2",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "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"
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007563439337880996,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12459143251180647,
+              -0.41298460960388184,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12459143251180647,
+              -0.41298460960388184,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12297733994065013,
+              -0.41215074343976144,
+              0.8050099166766457
+            ],
+            "closest_button": [
+              0.12450050562620163,
+              -0.4129909574985504,
+              0.7699944972991943
+            ],
+            "closest_ee_minus_button": [
+              -0.0015231656855514975,
+              0.0008402140587889795,
+              0.03501541937745134
+            ],
+            "button_min_z_position": [
+              0.12451530992984772,
+              -0.4129896759986877,
+              0.7692458033561707
+            ],
+            "min_active_finger_to_button": 0.14695323990412967,
+            "closest_active_finger": [
+              -0.00452723354101181,
+              -0.4741801619529724,
+              0.8104759454727173
+            ],
+            "closest_active_finger_button": [
+              0.1245870366692543,
+              -0.41298383474349976,
+              0.7761281728744507
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1291142702102661,
+              -0.061196327209472656,
+              0.0343477725982666
+            ],
+            "min_contact_pad_to_button": 0.020981476351169984,
+            "closest_contact_pad": [
+              0.12451530992984772,
+              -0.41345277234922334,
+              0.790222168428433
+            ],
+            "closest_contact_pad_button": [
+              0.12451530992984772,
+              -0.4129896759986877,
+              0.7692458033561707
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00046309635053565223,
+              0.020976365072262304
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52473119f757ed1e5df0e7ce0033f572c7a4fb1e88e73f4541049acd16f6f851",
+    "visual_seed": 682349405323950514,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63deb303097dd8661edcad697b44ca59745b7eaf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_47_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3369243699866368,
+              -0.050781729922322424,
+              1.0044098885011463
+            ],
+            "current_z": 1.0044098885011463,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14330338048638047,
+            "gripper_z": 1.0050762351709635,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3327508956627477,
+              -0.05503019492870337,
+              1.0050762351709635
+            ],
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+              0.0041734743238890926,
+              0.004248465006380944,
+              -0.0006663466698171305
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+            "object_to_gripper_xy": 0.005955446485579814,
+            "object_to_gripper_z": -0.0006663466698171305,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3369243699866368,
+              -0.07478819958472993,
+              1.0044098885011463
+            ],
+            "finger_b": [
+              0.32623729180996885,
+              -0.050781729922322424,
+              1.0044098885011463
+            ],
+            "finger_midpoint": [
+              0.3315808308983028,
+              -0.06278496475352618,
+              1.0044098885011463
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053435390883339595,
+              0.01200323483120376,
+              0.0
+            ],
+            "finger_gap": 0.026277827642449892,
+            "fingertip_max_gap": 0.09311029028284859,
+            "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": 1.0044098885011463,
+            "object_top_z": 1.0542437699619824,
+            "finger_top_clearance": 0.049833881460836116,
+            "fingertip_min_top_clearance": 0.014950164438250833,
+            "object_projection_between_fingers": 0.8345986487962413,
+            "object_to_finger_line_xy": 0.00976332676805837,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0490551451414243,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.985387181007412,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.2639288958374754,
+              0.7565864478039208
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+            "gripper_position": [
+              0.2423312549129085,
+              0.22773838710838723,
+              1.0248541388563783
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+            "target_minus_gripper": [
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+              0.03619050872908819,
+              -0.2682676910524575
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+            "held_position": [
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+              0.2319588737373664,
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+            "held_minus_target": [
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+              0.267501082225418
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+            "held_minus_gripper": [
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+              0.00422048662897917,
+              -0.0007666088270394944
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+            "xy_dist": 0.03725007159236364,
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+            "held_gripper_dist": 0.0059890731514927135,
+            "max_held_gripper_dist": 0.005996215519618356,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
+            "held_z": 1.0240875300293388,
+            "required_height": 0.7865864478039208,
+            "gripper_z": 1.0248541388563783,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.17542308775766,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 3.3060663439637117,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9433013997608974,
+            "max_source_tilt_deg": 89.8871796978485,
+            "source_upright_tilt_deg": 3.6789305945646174,
+            "max_source_upright_tilt_deg": 89.74139408066108,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9433013997608974,
+            "source_upright_return_tilt_deg": 3.6789305945646174,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.4675941767984784e-07,
+            "max_target_xy_drift": 2.846862848779976e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2335,
+                0.2639,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2335,
+                0.2639,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0004,
+                0.0001,
+                -0.0015
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+              "controller_last_pour_pose_position": [
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+                0.2388,
+                1.0203
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
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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",
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+                "joint4",
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+                "left_inner_finger",
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+                "mobile_rotate",
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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"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
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+                "table",
+                "wheel",
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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/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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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.2816478473910767,
+              -0.3512792164759781,
+              0.8470196244783732
+            ],
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+              0.27416816960845847,
+              -0.35154273274263503,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007484318309277423,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18785504034244024,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196244783732,
+            "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": 0.07519707098249066,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08833157664639553,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15658140173502227,
+            "release_required_pad_clearance": 0.05416578832319777,
+            "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": 3.346785910404748,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00767284631729126,
+            "max_z_decrease": 0.00767284631729126,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510164120470393,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00767284631729126,
+            "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": 0.021231711101599077,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00767284631729126,
+            "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": 0.007673320029808308,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12986809015274042,
+              -0.40780419111251826,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12986809015274042,
+              -0.40780419111251826,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13044359709104686,
+              -0.409713356569695,
+              0.8048732363778689
+            ],
+            "closest_button": [
+              0.12977160513401031,
+              -0.4078108966350555,
+              0.7698296308517456
+            ],
+            "closest_ee_minus_button": [
+              0.000671991957036544,
+              -0.0019024599346395,
+              0.03504360552612329
+            ],
+            "button_min_z_position": [
+              0.12978318333625793,
+              -0.40781196951866144,
+              0.7691360116004944
+            ],
+            "min_active_finger_to_button": 0.14511740915752175,
+            "closest_active_finger": [
+              -0.010308019816875458,
+              -0.3925493657588959,
+              0.810944139957428
+            ],
+            "closest_active_finger_button": [
+              0.1298645883798599,
+              -0.40780538320541376,
+              0.7766227722167969
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14017260819673535,
+              0.015256017446517889,
+              0.034321367740631104
+            ],
+            "min_contact_pad_to_button": 0.021231711101599077,
+            "closest_contact_pad": [
+              0.12978318333625793,
+              -0.41103840565308747,
+              0.7901211412444169
+            ],
+            "closest_contact_pad_button": [
+              0.12978318333625793,
+              -0.40781196951866144,
+              0.7691360116004944
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003226436134426025,
+              0.020985129643922518
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98bfa101c6848dbeb68c3145d83781cd6154b8715a55231d0ce730d3130c21e7",
+    "visual_seed": 8384052084945628838,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..620fa569d8c9db2f85788511eef4a3abb0f9920f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_48_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
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+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00768047571182251,
+            "max_z_decrease": 0.00768047571182251,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508553256941874,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00768047571182251,
+            "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": 0.021252635022655765,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.00768047571182251,
+            "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": 0.007680966264885905,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12500739097595215,
+              -0.41308122873306274,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12500739097595215,
+              -0.41308122873306274,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1251531247372122,
+              -0.41502687255685944,
+              0.8046502263829304
+            ],
+            "closest_button": [
+              0.12490563094615934,
+              -0.41308826208114624,
+              0.7696191668510437
+            ],
+            "closest_ee_minus_button": [
+              0.0002474937910528774,
+              -0.0019386104757131983,
+              0.03503105953188668
+            ],
+            "button_min_z_position": [
+              0.12492067366838454,
+              -0.4130851924419403,
+              0.7691283822059631
+            ],
+            "min_active_finger_to_button": 0.14549638796273442,
+            "closest_active_finger": [
+              -0.015420600771903992,
+              -0.39660951495170593,
+              0.8109434843063354
+            ],
+            "closest_active_finger_button": [
+              0.12500391900539398,
+              -0.4130799770355225,
+              0.7766087055206299
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14042451977729797,
+              0.016470462083816584,
+              0.034334778785705566
+            ],
+            "min_contact_pad_to_button": 0.021252635022655765,
+            "closest_contact_pad": [
+              0.12492067366838454,
+              -0.41644153352600977,
+              0.7901143172562201
+            ],
+            "closest_contact_pad_button": [
+              0.12492067366838454,
+              -0.4130851924419403,
+              0.7691283822059631
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0033563410840694585,
+              0.02098593505025692
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7249b2682923d4e114a7b73d59413204a06dcc5965b85a76053e39548900e01a",
+    "visual_seed": 3306047460945329153,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5f86cf9f74c0c90cc3b8a57b778914a113a2cef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_49_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33913232101019225,
+              -0.05620944099173259,
+              1.0011760116033555
+            ],
+            "current_z": 1.0011760116033555,
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+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14006956319323427,
+            "gripper_z": 1.0024720653172459,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33524335253320553,
+              -0.060312813093595555,
+              1.0024720653172459
+            ],
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+              0.0038889684769867205,
+              0.0041033721018629635,
+              -0.0012960537138904105
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+            "object_to_gripper_xy": 0.005653471360265627,
+            "object_to_gripper_z": -0.0012960537138904105,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33913232101019225,
+              -0.08001798288735648,
+              1.0011760116033555
+            ],
+            "finger_b": [
+              0.32867712692504364,
+              -0.05620944099173259,
+              1.0011760116033555
+            ],
+            "finger_midpoint": [
+              0.33390472396761794,
+              -0.06811371193954453,
+              1.0011760116033555
+            ],
+            "object_minus_finger_midpoint": [
+              0.005227597042574306,
+              0.011904270947811942,
+              0.0
+            ],
+            "finger_gap": 0.026003033487533803,
+            "fingertip_max_gap": 0.09341820623409428,
+            "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": 1.0011760116033555,
+            "object_top_z": 1.0509457848054335,
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+            "object_to_finger_line_xy": 0.009572841819492955,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04920910311704714,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.393116711415707,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23951420161496675,
+              0.26531462841217124,
+              0.7565864074136999
+            ],
+            "gripper_position": [
+              0.2472949883718383,
+              0.2300695333608776,
+              1.0244176853819495
+            ],
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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": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "55dcdee39ba9eee173019982e7c16935b70ff56a266cbdfa9f0160c1e02d7763",
+    "visual_seed": 7904639405044997972,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..72b50ee645450dc2adb04ed856f41d5646942b64
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_4_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3426107408588122,
+              -0.0574064549056546,
+              1.0021620769283501
+            ],
+            "current_z": 1.0021620769283501,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14105562851822884,
+            "gripper_z": 1.0024110293342825,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33875786096274085,
+              -0.061541280873827,
+              1.0024110293342825
+            ],
+            "object_minus_gripper": [
+              0.0038528798960713595,
+              0.004134825968172398,
+              -0.0002489524059323678
+            ],
+            "object_to_gripper_xy": 0.005651678448091652,
+            "object_to_gripper_z": -0.0002489524059323678,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3426107408588122,
+              -0.08108928855444056,
+              1.0021620769283501
+            ],
+            "finger_b": [
+              0.3319644329888972,
+              -0.0574064549056546,
+              1.0021620769283501
+            ],
+            "finger_midpoint": [
+              0.33728758692385474,
+              -0.06924787173004758,
+              1.0021620769283501
+            ],
+            "object_minus_finger_midpoint": [
+              0.00532315393495747,
+              0.011841416824392978,
+              0.0
+            ],
+            "finger_gap": 0.025965755927703747,
+            "fingertip_max_gap": 0.09318593408804202,
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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": 1.0021620769283501,
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+            "fingertip_min_top_clearance": 0.01493075886845821,
+            "object_projection_between_fingers": 0.8318890118701161,
+            "object_to_finger_line_xy": 0.009710279144538446,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04909296704402101,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1647017838495355,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.26345705358121246,
+              0.7565863251274991
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+            "gripper_position": [
+              0.2483027269958895,
+              0.2266383975544333,
+              1.0260270547872261
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+              0.23069980602287138,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.0040614084684380825,
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+            "xy_dist": 0.03793922054702797,
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+            "held_gripper_dist": 0.005653032593305116,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7865863251274992,
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+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.16756837021215,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.61526213206398,
+            "source_upright_tilt_deg": 3.114026280105561,
+            "max_source_upright_tilt_deg": 89.85072526467789,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.98862496931993,
+            "source_upright_return_tilt_deg": 3.114026280105561,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.1613064212528984e-07,
+            "max_target_xy_drift": 8.492526970736991e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.039564434415388795,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 7.659258531571074e-05,
+            "max_target_tilt_deg": 0.0002939276204168427,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2391,
+                0.2635,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.2635,
+                0.7566
+              ],
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+                1.0202
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+              "controller_event": 6,
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+              "source_size": [
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+              "height_range_1": [
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+                0.2,
+                0.2
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.609592318534851
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0017,
+              -0.0016
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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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",
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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": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.27749853316097617,
+              -0.3547531659173447,
+              0.847019525632718
+            ],
+            "target_position": [
+              0.27037317109279074,
+              -0.3548194782533769,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007125670630098316,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.186733544984232,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019525632718,
+            "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": 0.0752614034365034,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08642972457396915,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15528917848353552,
+            "release_required_pad_clearance": 0.05321486228698458,
+            "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": 1.451553708874425,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007689952850341797,
+            "max_z_decrease": 0.007689952850341797,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502518511619027,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007689952850341797,
+            "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": 0.02105200518500998,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007689952850341797,
+            "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": 0.007690496942982086,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12607309222221375,
+              -0.411080926656723,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12607309222221375,
+              -0.411080926656723,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12657362686267873,
+              -0.4113770718286295,
+              0.8052414374245943
+            ],
+            "closest_button": [
+              0.1259787231683731,
+              -0.41108956933021545,
+              0.7702224850654602
+            ],
+            "closest_ee_minus_button": [
+              0.0005949036943056207,
+              -0.0002875024984140273,
+              0.0350189523591341
+            ],
+            "button_min_z_position": [
+              0.12598180770874023,
+              -0.41108688712120056,
+              0.7691189050674438
+            ],
+            "min_active_finger_to_button": 0.14547021130723653,
+            "closest_active_finger": [
+              -0.014584578573703766,
+              -0.3973241150379181,
+              0.8111177682876587
+            ],
+            "closest_active_finger_button": [
+              0.12607194483280182,
+              -0.41107791662216187,
+              0.7766481041908264
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14065652340650558,
+              0.013753801584243774,
+              0.034469664096832275
+            ],
+            "min_contact_pad_to_button": 0.02105200518500998,
+            "closest_contact_pad": [
+              0.12598180770874023,
+              -0.4124166297010277,
+              0.7901288719160869
+            ],
+            "closest_contact_pad_button": [
+              0.12598180770874023,
+              -0.41108688712120056,
+              0.7691189050674438
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013297425798271534,
+              0.02100996684864309
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c237a7846f71a22f68c6b2139d9037c36198b90d3b010350755ccf88a3ec334",
+    "visual_seed": 6554899922384366761,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5230f680325e0a1b6df96f0505d39df1f670de0a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_50_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.34205183419747,
+              -0.05323136437726821,
+              1.0052307412932038
+            ],
+            "current_z": 1.0052307412932038,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1441242332784377,
+            "gripper_z": 1.0056560020804433,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3381801964646878,
+              -0.05744499080464005,
+              1.0056560020804433
+            ],
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+              0.003871637732782207,
+              0.004213626427371837,
+              -0.0004252607872394787
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+            "object_to_gripper_xy": 0.005722257107413936,
+            "object_to_gripper_z": -0.0004252607872394787,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34205183419747,
+              -0.07679000139947101,
+              1.0052307412932038
+            ],
+            "finger_b": [
+              0.3311058444686448,
+              -0.05323136437726821,
+              1.0052307412932038
+            ],
+            "finger_midpoint": [
+              0.33657883933305743,
+              -0.06501068288836961,
+              1.0052307412932038
+            ],
+            "object_minus_finger_midpoint": [
+              0.00547299486441255,
+              0.011779318511101401,
+              0.0
+            ],
+            "finger_gap": 0.02597737610859592,
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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": 1.0052307412932038,
+            "object_top_z": 1.0550272211870362,
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+            "fingertip_min_top_clearance": 0.014938943968149687,
+            "object_projection_between_fingers": 0.8224504777451865,
+            "object_to_finger_line_xy": 0.009926814694145417,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04909750138422701,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.17307199014886,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00744020938873291,
+            "max_z_decrease": 0.00744020938873291,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511760301894231,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00744020938873291,
+            "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": 0.02099369620658953,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00744020938873291,
+            "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": 0.007440668622475534,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12940560281276697,
+              -0.4078004062175751,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12940560281276697,
+              -0.4078004062175751,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1272728943841894,
+              -0.40602714450649413,
+              0.8056535724417576
+            ],
+            "closest_button": [
+              0.12932357192039487,
+              -0.40780550241470337,
+              0.770641028881073
+            ],
+            "closest_ee_minus_button": [
+              -0.0020506775362054697,
+              0.0017783579082092382,
+              0.03501254356068462
+            ],
+            "button_min_z_position": [
+              0.12932309508323667,
+              -0.40780553221702576,
+              0.7693686485290527
+            ],
+            "min_active_finger_to_button": 0.14702665527644895,
+            "closest_active_finger": [
+              0.0010403841733932495,
+              -0.4707303047180176,
+              0.8106570243835449
+            ],
+            "closest_active_finger_button": [
+              0.12939791381359095,
+              -0.40779823064804077,
+              0.7762951850891113
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1283575296401977,
+              -0.0629320740699768,
+              0.034361839294433594
+            ],
+            "min_contact_pad_to_button": 0.02099369620658953,
+            "closest_contact_pad": [
+              0.12932309508323667,
+              -0.40780553221702576,
+              0.7903623447356423
+            ],
+            "closest_contact_pad_button": [
+              0.12932309508323667,
+              -0.40780553221702576,
+              0.7693686485290527
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02099369620658953
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b78408c0fae548d130f444130c6a1795f7a3d29670be4c1df2ebd8e900fe39e",
+    "visual_seed": 1716611320044497589,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c5d415899e01a476c6611b215446fe7c3150c50
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_52_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3426743420410189,
+              -0.05507659603400042,
+              1.0048008150049925
+            ],
+            "current_z": 1.0048008150049925,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14369430699022656,
+            "gripper_z": 1.0051548282459253,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.338686337421527,
+              -0.05930520975940397,
+              1.0051548282459253
+            ],
+            "object_minus_gripper": [
+              0.003988004619491892,
+              0.004228613725403549,
+              -0.0003540132409327601
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+            "object_to_gripper_xy": 0.005812517086749935,
+            "object_to_gripper_z": -0.0003540132409327601,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3426743420410189,
+              -0.07881873625598255,
+              1.0048008150049925
+            ],
+            "finger_b": [
+              0.3318455366989232,
+              -0.05507659603400042,
+              1.0048008150049925
+            ],
+            "finger_midpoint": [
+              0.337259939369971,
+              -0.06694766614499148,
+              1.0048008150049925
+            ],
+            "object_minus_finger_midpoint": [
+              0.005414402671047869,
+              0.011871070110991061,
+              0.0
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+            "finger_gap": 0.026095061744653182,
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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": 0.009852401093523519,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900111064010122,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.10783836592039,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+            "source_start_tilt_deg": 2.651431207355598,
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+            "max_source_tilt_deg": 89.86455828334954,
+            "source_upright_tilt_deg": 2.991445201720675,
+            "max_source_upright_tilt_deg": 89.98494247627731,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.010165148915883,
+            "source_upright_return_tilt_deg": 2.991445201720675,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.9802322387695312e-08,
+            "max_target_xy_drift": 1.4675941767984784e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
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+    "task_island_state_digest": "6b543c0c9f40fc9dd3e0c0b25a1806fb8de33080ade03cc7084a14bb1d311015",
+    "visual_seed": 397656564202110997,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8763050e23ee677b16ed33bd4678b2a6c9c1b38
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_53_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              1.0031461739385399
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+              0.004260050119321408,
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+              -0.05284337510336228,
+              1.0031461739385399
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+              -0.06466732464475924,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
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+          }
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.23509220778316758,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "xy_dist": 0.006796987801626148,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18428732578234258,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198213353459,
+            "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": 0.0755645413872797,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851371441099205,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15217204043537547,
+            "release_required_pad_clearance": 0.05256857205496025,
+            "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": 0.20173846053990127,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00729900598526001,
+            "max_z_decrease": 0.00729900598526001,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505953405543832,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00729900598526001,
+            "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": 0.02099985165446183,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00729900598526001,
+            "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": 0.007299410351602786,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1267135590314865,
+              -0.4071213304996491,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1267135590314865,
+              -0.4071213304996491,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12541095031522473,
+              -0.40614211971473496,
+              0.8053375386282332
+            ],
+            "closest_button": [
+              0.12665504217147824,
+              -0.4071180820465088,
+              0.7703136801719666
+            ],
+            "closest_ee_minus_button": [
+              -0.0012440918562535153,
+              0.0009759623317738275,
+              0.035023858456266654
+            ],
+            "button_min_z_position": [
+              0.12663672864437098,
+              -0.40712177753448486,
+              0.7695098519325256
+            ],
+            "min_active_finger_to_button": 0.14660209504164143,
+            "closest_active_finger": [
+              -0.0017938315868377686,
+              -0.46877676248550415,
+              0.8106932044029236
+            ],
+            "closest_active_finger_button": [
+              0.12670771777629852,
+              -0.40711939334869385,
+              0.7763727307319641
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1285015493631363,
+              -0.0616573691368103,
+              0.03432047367095947
+            ],
+            "min_contact_pad_to_button": 0.02099985165446183,
+            "closest_contact_pad": [
+              0.12664216756820676,
+              -0.40738104993755,
+              0.7905780221774128
+            ],
+            "closest_contact_pad_button": [
+              0.12664216756820676,
+              -0.40712201595306396,
+              0.7695797681808472
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00025903398448601234,
+              0.02099825399656563
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a532d35f913d9af9a92e370eb479e0c0f7fcbeb82dda39b16513eafa2558d90",
+    "visual_seed": 3104826738232425532,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d058b480237c0c7d140348bb7e76d600957a39e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_54_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3350329830368484,
+              -0.05166955425274829,
+              1.002040894363614
+            ],
+            "current_z": 1.002040894363614,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.14093432674420336,
+            "gripper_z": 1.0032491227541098,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3310095028150366,
+              -0.055899587487642496,
+              1.0032491227541098
+            ],
+            "object_minus_gripper": [
+              0.004023480221811815,
+              0.004230033234894209,
+              -0.0012082283904957247
+            ],
+            "object_to_gripper_xy": 0.005837942639630884,
+            "object_to_gripper_z": -0.0012082283904957247,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3350329830368484,
+              -0.07545846658391948,
+              1.002040894363614
+            ],
+            "finger_b": [
+              0.32423996688550133,
+              -0.05166955425274829,
+              1.002040894363614
+            ],
+            "finger_midpoint": [
+              0.3296364749611749,
+              -0.06356401041833389,
+              1.002040894363614
+            ],
+            "object_minus_finger_midpoint": [
+              0.005396508075673545,
+              0.011894456165585598,
+              0.0
+            ],
+            "finger_gap": 0.026122816608156713,
+            "fingertip_max_gap": 0.09338817029927352,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013061408304078356,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002040894363614,
+            "object_top_z": 1.0517967709105638,
+            "finger_top_clearance": 0.049755876546949684,
+            "fingertip_min_top_clearance": 0.014926762964084921,
+            "object_projection_between_fingers": 0.829295232312127,
+            "object_to_finger_line_xy": 0.009828730142872158,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04919408514963676,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3317011763531132,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+              0.7901561668093116
+            ],
+            "closest_contact_pad_button": [
+              0.12640830874443054,
+              -0.41395530104637146,
+              0.7691962122917175
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014939158489534199,
+              0.020959954517594026
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eda7709fb3c2056687807df6373e1ac13ebdb4406120c529c14c2a8924fbc8c2",
+    "visual_seed": 2822667659485273670,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..15b6e619a089ac7668710e99aaeec99fb409624a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_55_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3369165582288306,
+              -0.05819593248170129,
+              1.0026699923832851
+            ],
+            "current_z": 1.0026699923832851,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14156348436851918,
+            "gripper_z": 1.0031785846834693,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33276921023592104,
+              -0.06239318645379176,
+              1.0031785846834693
+            ],
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+              0.004147347992909556,
+              0.004197253972090469,
+              -0.0005085923001841852
+            ],
+            "object_to_gripper_xy": 0.00590063015961178,
+            "object_to_gripper_z": -0.0005085923001841852,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3369165582288306,
+              -0.08229002703224571,
+              1.0026699923832851
+            ],
+            "finger_b": [
+              0.3264501895067761,
+              -0.05819593248170129,
+              1.0026699923832851
+            ],
+            "finger_midpoint": [
+              0.33168337386780333,
+              -0.0702429797569735,
+              1.0026699923832851
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052331843610272655,
+              0.012047047275272206,
+              0.0
+            ],
+            "finger_gap": 0.02626918853783981,
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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": 1.0026699923832851,
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+            "object_projection_between_fingers": 0.8412554785302162,
+            "object_to_finger_line_xy": 0.009599751329462997,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04905632920005025,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.081103159131832,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.2360752681840086,
+              0.26417336073012876,
+              0.7565863276623128
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+            "gripper_position": [
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+              0.23053752274532108,
+              1.031272462555109
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+              0.03363583798480768,
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+              0.23478668836252012,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004249165617199041,
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+            "held_gripper_dist": 0.005920972955084332,
+            "max_held_gripper_dist": 0.005923811976593331,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7565863276623128,
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+            "gripper_z": 1.031272462555109,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.1004549314276,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 0.6970436314386723,
+            "max_source_tilt_deg": 89.85683421219699,
+            "source_upright_tilt_deg": 4.025984158417117,
+            "max_source_upright_tilt_deg": 89.69017413277504,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 0.6970436314386723,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.974638210349142e-07,
+            "max_target_xy_drift": 1.2283289618903029e-06,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.03956468170884163,
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+            "target_tilt_deg": 0.0004925711629523113,
+            "max_target_tilt_deg": 0.0014823866058567196,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2361,
+                0.2642,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.2642,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "position_threshold_m": 0.015,
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+              "source_pose_feedback": true,
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.5840154886245728
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+              "allowed_objects": [
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+                "Robotiq2F85",
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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",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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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": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.2785424571578565,
+              -0.34958740104956154,
+              0.847019407565498
+            ],
+            "target_position": [
+              0.2691348450163155,
+              -0.350762269215844,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009480689922880814,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18843506086117207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019407565498,
+            "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": 0.07514463062507745,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08825372012270498,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15747951286307346,
+            "release_required_pad_clearance": 0.05412686006135249,
+            "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": 3.2672527273104843,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007405638694763184,
+            "max_z_decrease": 0.007405638694763184,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035029861423494464,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007405638694763184,
+            "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": 0.02105024037343756,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007405638694763184,
+            "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": 0.007406051918364063,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12483476847410199,
+              -0.40702372789382935,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12483476847410199,
+              -0.40702372789382935,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1239877694124091,
+              -0.4075120523476164,
+              0.8045703740301777
+            ],
+            "closest_button": [
+              0.12473859637975689,
+              -0.4070260226726532,
+              0.7695519328117371
+            ],
+            "closest_ee_minus_button": [
+              -0.0007508269673477813,
+              -0.0004860296749631954,
+              0.035018441218440666
+            ],
+            "button_min_z_position": [
+              0.12475664913654323,
+              -0.4070279598236084,
+              0.7694032192230225
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+            "min_active_finger_to_button": 0.14666508914099538,
+            "closest_active_finger": [
+              -0.01701902598142624,
+              -0.39285749197006226,
+              0.8107852935791016
+            ],
+            "closest_active_finger_button": [
+              0.12483210861682888,
+              -0.4070225059986114,
+              0.7763141989707947
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1418511345982551,
+              0.014165014028549139,
+              0.034471094608306885
+            ],
+            "min_contact_pad_to_button": 0.02105024037343756,
+            "closest_contact_pad": [
+              0.12473859637975689,
+              -0.40857227225957027,
+              0.7905453063375537
+            ],
+            "closest_contact_pad_button": [
+              0.12473859637975689,
+              -0.4070260226726532,
+              0.7695519328117371
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00154624958691707,
+              0.02099337352581665
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c2d616ac9ee429c2e046412eef5f0a844a16d58be0299f292f573c6e0ad9e89",
+    "visual_seed": 2524267421294915198,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ec5ca9719d621fee56227aef7260a93aacbffea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_56_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3444686864946038,
+              -0.059383704211911435,
+              1.0026468996049558
+            ],
+            "current_z": 1.0026468996049558,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1415404511948345,
+            "gripper_z": 1.0033873703387708,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3405446604094997,
+              -0.06354750561029472,
+              1.0033873703387708
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+            "object_minus_gripper": [
+              0.003924026085104115,
+              0.004163801398383286,
+              -0.0007404707338150018
+            ],
+            "object_to_gripper_xy": 0.005721470335652903,
+            "object_to_gripper_z": -0.0007404707338150018,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3444686864946038,
+              -0.08314355351903825,
+              1.0026468996049558
+            ],
+            "finger_b": [
+              0.3338230231723943,
+              -0.059383704211911435,
+              1.0026468996049558
+            ],
+            "finger_midpoint": [
+              0.33914585483349907,
+              -0.07126362886547484,
+              1.0026468996049558
+            ],
+            "object_minus_finger_midpoint": [
+              0.005322831661104754,
+              0.011879924653563405,
+              0.0
+            ],
+            "finger_gap": 0.026035755926556298,
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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": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007400870323181152,
+            "max_z_decrease": 0.007400870323181152,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035115516158332166,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007400870323181152,
+            "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": 0.020959713776599886,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007400870323181152,
+            "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": 0.007401428445166904,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.127289742231369,
+              -0.41039913892745966,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.127289742231369,
+              -0.41039913892745966,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1253257485110061,
+              -0.40893224320694865,
+              0.8068029274764479
+            ],
+            "closest_button": [
+              0.12722569704055783,
+              -0.4104028940200805,
+              0.7717697024345398
+            ],
+            "closest_ee_minus_button": [
+              -0.0018999485295517204,
+              0.0014706508131318574,
+              0.03503322504190809
+            ],
+            "button_min_z_position": [
+              0.1271989941596985,
+              -0.4104042649269104,
+              0.7694079875946045
+            ],
+            "min_active_finger_to_button": 0.14714508235824436,
+            "closest_active_finger": [
+              -0.002576179802417755,
+              -0.4705183506011963,
+              0.8105525374412537
+            ],
+            "closest_active_finger_button": [
+              0.12728166580200195,
+              -0.4103997647762298,
+              0.7762834429740906
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1298578456044197,
+              -0.060118585824966486,
+              0.034269094467163086
+            ],
+            "min_contact_pad_to_button": 0.020959713776599886,
+            "closest_contact_pad": [
+              0.1271989941596985,
+              -0.4104042649269104,
+              0.7903677013712044
+            ],
+            "closest_contact_pad_button": [
+              0.1271989941596985,
+              -0.4104042649269104,
+              0.7694079875946045
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020959713776599886
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "444a130360081cc0adedc389485a07399bfa895636d1cca64823b150eb7b0824",
+    "visual_seed": 8479082479422912704,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d5273e260fb1bd75b6141f0f79af80d0e4c123
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_57_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.34336210148808166,
+              -0.05223528830967213,
+              1.0043669270679403
+            ],
+            "current_z": 1.0043669270679403,
+            "required_z": 0.861106567619411,
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+            "lift_margin": 0.14326035944852933,
+            "gripper_z": 1.0048090972421597,
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+            "gripper_position": [
+              0.3395655512283212,
+              -0.05637887609937384,
+              1.0048090972421597
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+              0.003796550259760445,
+              0.004143587789701704,
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+            "object_to_gripper_z": -0.00044217017421943616,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.34336210148808166,
+              -0.07578125753294428,
+              1.0043669270679403
+            ],
+            "finger_b": [
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+              -0.05223528830967213,
+              1.0043669270679403
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+            "finger_midpoint": [
+              0.3379756888368373,
+              -0.0640082729213082,
+              1.0043669270679403
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+              0.011772984611636068,
+              0.0
+            ],
+            "finger_gap": 0.025893366557116892,
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+            "object_to_finger_line_xy": 0.009796200600665711,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 170,
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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_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.26837041396189965,
+              0.7565863737826353
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+              0.23450567128062633,
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+              0.004089916757200052,
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+            "held_gripper_dist": 0.005632441757863399,
+            "max_held_gripper_dist": 0.0056382740943646216,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7865863737826353,
+            "gripper_z": 1.0310593016824914,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.11242142285346,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_tilt_deg": 2.8493280944486705,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9876592382656841,
+            "max_source_tilt_deg": 89.97093206592646,
+            "source_upright_tilt_deg": 3.6444200423311055,
+            "max_source_upright_tilt_deg": 89.96353750126612,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d61fba5a05e05b2a1d5d87e3dbea5182d8fe19d8c6c87e3514fd93692118c0e4",
+    "visual_seed": 5387064540664121972,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..70c3545e041315532d375d5513837999a636fdf4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_59_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+              -0.0511021944239378,
+              1.0034547667018523
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+              1.0045059865437127
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+              0.0042638335953031695,
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+            "object_to_gripper_z": -0.0010512198418604068,
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+              -0.07470044870429449,
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+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
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+          }
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "valid_pour_grasp_frames": 0,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
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+            "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": 4,
+      "skill": "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": [
+              0.2773504049852879,
+              -0.35954608390512716,
+              0.8470192223991171
+            ],
+            "target_position": [
+              0.27027579311678207,
+              -0.35991608031494304,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007084280516275468,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18758362432743741,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192223991171,
+            "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": 0.07517877139684388,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633303035125374,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15637319865291444,
+            "release_required_pad_clearance": 0.05316651517562687,
+            "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": 1.3562166525620118,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007818818092346191,
+            "max_z_decrease": 0.007818818092346191,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503762617650259,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007818818092346191,
+            "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": 0.021052894325928564,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007818818092346191,
+            "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": 0.007819239196948427,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12597571313381195,
+              -0.41617754101753235,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12597571313381195,
+              -0.41617754101753235,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1248432292823086,
+              -0.4167108994699768,
+              0.8043688437516645
+            ],
+            "closest_button": [
+              0.1258767545223236,
+              -0.41618126630783087,
+              0.7693504691123962
+            ],
+            "closest_ee_minus_button": [
+              -0.0010335252400150152,
+              -0.0005296331621459371,
+              0.03501837463926827
+            ],
+            "button_min_z_position": [
+              0.12589475512504575,
+              -0.41618311405181885,
+              0.7689900398254395
+            ],
+            "min_active_finger_to_button": 0.14689725143587462,
+            "closest_active_finger": [
+              -0.015798315405845642,
+              -0.3988702893257141,
+              0.8108537793159485
+            ],
+            "closest_active_finger_button": [
+              0.12597158551216123,
+              -0.41617721319198614,
+              0.7764943838119507
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14176990091800687,
+              0.017306923866272028,
+              0.0343593955039978
+            ],
+            "min_contact_pad_to_button": 0.021052894325928564,
+            "closest_contact_pad": [
+              0.12587457895278928,
+              -0.4180662731383775,
+              0.7901136047649366
+            ],
+            "closest_contact_pad_button": [
+              0.12587457895278928,
+              -0.4161841273307801,
+              0.7691450119018555
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001882145807597435,
+              0.02096859286308117
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f850341fadaa8a9d2e449c99e46db7296d3a75d070f51bf915d0b44fa800a6de",
+    "visual_seed": 1169453145929782050,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66fe70b402b1364f216fb24d32ca448ad738ce5d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_5_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34282861800577813,
+              -0.05223435070369774,
+              1.0044557452233107
+            ],
+            "current_z": 1.0044557452233107,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.1433492968131893,
+            "gripper_z": 1.0056763250452905,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33885699439821015,
+              -0.05637133530365017,
+              1.0056763250452905
+            ],
+            "object_minus_gripper": [
+              0.003971623607567976,
+              0.004136984599952431,
+              -0.0012205798219797614
+            ],
+            "object_to_gripper_xy": 0.005734843996172419,
+            "object_to_gripper_z": -0.0012205798219797614,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34282861800577813,
+              -0.07611403984546257,
+              1.0044557452233107
+            ],
+            "finger_b": [
+              0.3323431865917946,
+              -0.05223435070369774,
+              1.0044557452233107
+            ],
+            "finger_midpoint": [
+              0.3375859022987864,
+              -0.06417419527458015,
+              1.0044557452233107
+            ],
+            "object_minus_finger_midpoint": [
+              0.005242715706991752,
+              0.011939844570882416,
+              0.0
+            ],
+            "finger_gap": 0.02608033407463703,
+            "fingertip_max_gap": 0.09347670575165148,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013040167037318515,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0044557452233107,
+            "object_top_z": 1.0542444334695495,
+            "finger_top_clearance": 0.04978868824623883,
+            "fingertip_min_top_clearance": 0.014936606473871648,
+            "object_projection_between_fingers": 0.8383609432854779,
+            "object_to_finger_line_xy": 0.009600676201717956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049238352875825744,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.42764777146835,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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+              0.12931478023529047,
+              -0.41394177079200745,
+              0.7692754864692688
+            ],
+            "closest_ee_minus_button": [
+              0.0007848165377927208,
+              -0.00024351208581568917,
+              0.035048605080323925
+            ],
+            "button_min_z_position": [
+              0.12931478023529047,
+              -0.41394177079200745,
+              0.7692754864692688
+            ],
+            "min_active_finger_to_button": 0.14517018485414726,
+            "closest_active_finger": [
+              -0.010810844600200653,
+              -0.39876726269721985,
+              0.8108170032501221
+            ],
+            "closest_active_finger_button": [
+              0.1294093877077102,
+              -0.4139375686645508,
+              0.7764290571212769
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14022023230791086,
+              0.015170305967330933,
+              0.034387946128845215
+            ],
+            "min_contact_pad_to_button": 0.021033589554450838,
+            "closest_contact_pad": [
+              0.12931478023529047,
+              -0.4153090304365293,
+              0.7902645905618585
+            ],
+            "closest_contact_pad_button": [
+              0.12931478023529047,
+              -0.41394177079200745,
+              0.7692754864692688
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013672596445218343,
+              0.020989104092589694
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b8420e8ba8ff926207447e40e827c97ffde6e1084f6d2e96c2f34a0c8cde2c40",
+    "visual_seed": 2924873812884462961,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be3a7f9b9dd287d9be2cc294cd6231176e838944
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_60_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33611382210079893,
+              -0.05860724363624249,
+              1.0032092073133654
+            ],
+            "current_z": 1.0032092073133654,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14210263969395454,
+            "gripper_z": 1.0041729505391872,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3320500287640997,
+              -0.06280842867988538,
+              1.0041729505391872
+            ],
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+              0.004063793336699206,
+              0.004201185043642891,
+              -0.0009637432258218226
+            ],
+            "object_to_gripper_xy": 0.005845029688062294,
+            "object_to_gripper_z": -0.0009637432258218226,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33611382210079893,
+              -0.08253497111527275,
+              1.0032092073133654
+            ],
+            "finger_b": [
+              0.3255092479604942,
+              -0.05860724363624249,
+              1.0032092073133654
+            ],
+            "finger_midpoint": [
+              0.33081153503064653,
+              -0.07057110737575761,
+              1.0032092073133654
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053022870701524005,
+              0.011963863739515121,
+              0.0
+            ],
+            "finger_gap": 0.02617237350734472,
+            "fingertip_max_gap": 0.0931136791021531,
+            "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": 1.0032092073133654,
+            "object_top_z": 1.0530417235532878,
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+            "fingertip_min_top_clearance": 0.014949754871976723,
+            "object_projection_between_fingers": 0.8358275624237995,
+            "object_to_finger_line_xy": 0.00969508401632644,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04905683955107655,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9137451773689866,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.26907669519768046,
+              0.7565864601621374
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+            "gripper_position": [
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+              0.23428358475404476,
+              1.0294901056898846
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+            "target_minus_gripper": [
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+              0.0347931104436357,
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+            "held_minus_target": [
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+              0.004147469846143392,
+              -0.0010373330295727623
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+            "xy_dist": 0.03561757246256608,
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+            "held_gripper_dist": 0.005917676216866389,
+            "max_held_gripper_dist": 0.005926295642154189,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7865864601621374,
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+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.1388542549414,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 3.1616431428785647,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.0490508098158546,
+            "max_source_tilt_deg": 89.82277906332386,
+            "source_upright_tilt_deg": 3.477000348810105,
+            "max_source_upright_tilt_deg": 89.749283841008,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0490508098158546,
+            "source_upright_return_tilt_deg": 3.477000348810105,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.326520849355723e-08,
+            "max_target_xy_drift": 1.8555912582975877e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.039564640734417705,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 5.093387746403427e-05,
+            "max_target_tilt_deg": 0.00024207607149887155,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2387,
+                0.2691,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.2691,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0004,
+                0.0011
+              ],
+              "controller_last_pour_pose_position": [
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+                1.0229
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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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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+                "joint5",
+                "joint6",
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+                "left_inner_finger",
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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",
+                "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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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "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": "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": 4,
+      "skill": "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": [
+              0.2744666151447194,
+              -0.3541025992206607,
+              0.8470195135971892
+            ],
+            "target_position": [
+              0.2677279430775967,
+              -0.3542256407771507,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006739795282710238,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18600685707138012,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195135971892,
+            "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": 0.07576874225836601,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529264528008652,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15349423396887218,
+            "release_required_pad_clearance": 0.052646322640043264,
+            "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": 0.3516586833201735,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007775664329528809,
+            "max_z_decrease": 0.007775664329528809,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510118629980422,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007775664329528809,
+            "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": 0.021226812204309255,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007775664329528809,
+            "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": 0.007776257633295201,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12342786788940427,
+              -0.41048708558082575,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12342786788940427,
+              -0.41048708558082575,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12463980595551702,
+              -0.4125351436806373,
+              0.8048141323725146
+            ],
+            "closest_button": [
+              0.12333849817514417,
+              -0.4104964435100555,
+              0.7697963714599609
+            ],
+            "closest_ee_minus_button": [
+              0.0013013077803728512,
+              -0.002038700170581831,
+              0.03501776091255371
+            ],
+            "button_min_z_position": [
+              0.12333191186189649,
+              -0.41049149632453913,
+              0.7690331935882568
+            ],
+            "min_active_finger_to_button": 0.14462474808086945,
+            "closest_active_finger": [
+              -0.016531072556972504,
+              -0.3987349569797516,
+              0.8110484480857849
+            ],
+            "closest_active_finger_button": [
+              0.12342669814825057,
+              -0.4104847908020019,
+              0.7765508890151978
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13995777070522308,
+              0.01174983382225031,
+              0.03449755907058716
+            ],
+            "min_contact_pad_to_button": 0.021226812204309255,
+            "closest_contact_pad": [
+              0.12333191186189649,
+              -0.4135253739916344,
+              0.790042076058729
+            ],
+            "closest_contact_pad_button": [
+              0.12333191186189649,
+              -0.41049149632453913,
+              0.7690331935882568
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003033877667095286,
+              0.021008882470472168
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b02318c4e260a0fc09a7402ae912743cbe19f93c79aef078cbb4d42d322d76d6",
+    "visual_seed": 4970205435275871632,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1c23e92dce46a7c87af8d2cc2e8d1d20ae5c74b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_61_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3416302375022032,
+              -0.05999794669522962,
+              1.0039384191068028
+            ],
+            "current_z": 1.0039384191068028,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.14283185148739186,
+            "gripper_z": 1.0043088315061124,
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007586419582366943,
+            "max_z_decrease": 0.007586419582366943,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350610699540111,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007586419582366943,
+            "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": 0.020989012491421447,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007586419582366943,
+            "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": 0.007586761620164304,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12389568984508512,
+              -0.4125731289386749,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12389568984508512,
+              -0.4125731289386749,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12214854384596335,
+              -0.4115629753518643,
+              0.8056553255206281
+            ],
+            "closest_button": [
+              0.12382324039936063,
+              -0.41257694363594055,
+              0.7706489562988281
+            ],
+            "closest_ee_minus_button": [
+              -0.0016746965533972757,
+              0.0010139682840762387,
+              0.035006369221800004
+            ],
+            "button_min_z_position": [
+              0.12382383644580838,
+              -0.4125783145427704,
+              0.7692224383354187
+            ],
+            "min_active_finger_to_button": 0.14705997476341182,
+            "closest_active_finger": [
+              -0.004649363458156586,
+              -0.4751772880554199,
+              0.8105441927909851
+            ],
+            "closest_active_finger_button": [
+              0.1238922998309135,
+              -0.41257044672966003,
+              0.7761340141296387
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12854166328907007,
+              -0.06260684132575989,
+              0.034410178661346436
+            ],
+            "min_contact_pad_to_button": 0.020989012491421447,
+            "closest_contact_pad": [
+              0.12380583584308621,
+              -0.41274421296026154,
+              0.7902991521469359
+            ],
+            "closest_contact_pad_button": [
+              0.12380583584308621,
+              -0.4125812351703644,
+              0.7693107724189758
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00016297778989715628,
+              0.020988379727960083
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb8050d36480074556616e7f214b6b10ae2e2e47f125ee9889ffec635417a438",
+    "visual_seed": 8030682816301572764,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d00dca39f9e9f3d5e57bf6622e754df9b79e4e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_62_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.33470020324766225,
+              -0.05479446095661247,
+              1.0011486839178896
+            ],
+            "current_z": 1.0011486839178896,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14004217590312373,
+            "gripper_z": 1.002225261308565,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.058942968570050866,
+              1.002225261308565
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+              0.0037863995854215404,
+              0.004148507613438393,
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+            "object_to_gripper_z": -0.0010765773906753484,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33470020324766225,
+              -0.07831968743671493,
+              1.0011486839178896
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+            "finger_b": [
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+              -0.05479446095661247,
+              1.0011486839178896
+            ],
+            "finger_midpoint": [
+              0.32930515383359965,
+              -0.06655707419666371,
+              1.0011486839178896
+            ],
+            "object_minus_finger_midpoint": [
+              0.005395049414062603,
+              0.011762613240051234,
+              0.0
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+            "finger_gap": 0.02588170229449413,
+            "fingertip_max_gap": 0.09347979082077554,
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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": 0.009807682500402367,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04923989541038777,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.4219368749560024,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.26862641222489403,
+              0.7565864367714685
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+            "gripper_position": [
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+              0.23388535474349453,
+              1.0299678486850476
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+            "target_minus_gripper": [
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004053773890083073,
+              -0.0011437011332202651
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+            "xy_dist": 0.03554841957947892,
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+            "held_gripper_dist": 0.0057115313257561084,
+            "max_held_gripper_dist": 0.005721762962776369,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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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": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c51a821dfe3504ea6d243ee097299cf3c27bac64be58fd279d2fe9ae8e56bca2",
+    "visual_seed": 3202961670578307162,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2320b0bb09e1226441ed95aad2b4adf42a0b1b97
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_63_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.0018056778393456
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+            "lift_margin": 0.14069922942922464,
+            "gripper_z": 1.002333245300728,
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+            "gripper_position": [
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+              -0.05647155642834949,
+              1.002333245300728
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+              0.0041798514643194284,
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+            "object_to_gripper_z": -0.0005275674613824943,
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+              -0.05229170496403006,
+              1.0018056778393456
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+              -0.06434806826487952,
+              1.0018056778393456
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+              0.012056363300849457,
+              0.0
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
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+            },
+            "failed_keys": []
+          }
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.26945995141445,
+              0.7565863761970492
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+              0.232767590502802,
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+            "max_source_tilt_deg": 89.77181697241635,
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+            "max_source_upright_tilt_deg": 89.90663284479355,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+              "controller_target_position": [
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+              "controller_last_pour_pose_position": [
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+                "tilt_axis_frame": "end_effector",
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+              0.4
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
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+                0.4
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+              "pour_height_range_m": [
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+                0.2
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.00033137818117404,
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+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "defaultgroundplane",
+                "desk",
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+                "ground",
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+                "wheel",
+                "workbench"
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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/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": 4,
+      "skill": "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": [
+              0.27712811556655315,
+              -0.3588100766968069,
+              0.8470196365252062
+            ],
+            "target_position": [
+              0.27019082787609866,
+              -0.35913812270386897,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0069450395738887396,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18527480848330286,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196365252062,
+            "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": 0.07530424971668806,
+            "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": 0.15384269728310035,
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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": 1.5993268389620297,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075179338455200195,
+            "max_z_decrease": 0.0075179338455200195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506247592946302,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075179338455200195,
+            "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": 0.02117788379282749,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.0075179338455200195,
+            "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": 0.007518368154995582,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12589074671268463,
+              -0.4153995811939239,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12589074671268463,
+              -0.4153995811939239,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12531808078271955,
+              -0.417044484933294,
+              0.8050249814221803
+            ],
+            "closest_button": [
+              0.12581048905849457,
+              -0.4154047071933746,
+              0.7700043320655823
+            ],
+            "closest_ee_minus_button": [
+              -0.0004924082757750137,
+              -0.0016397777399194124,
+              0.03502064935659799
+            ],
+            "button_min_z_position": [
+              0.12580996751785278,
+              -0.41540184617042536,
+              0.7692909240722656
+            ],
+            "min_active_finger_to_button": 0.14631813637371682,
+            "closest_active_finger": [
+              -0.015643805265426636,
+              -0.4015154540538788,
+              0.8108785152435303
+            ],
+            "closest_active_finger_button": [
+              0.12588593363761902,
+              -0.41539806127548207,
+              0.7764459252357483
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14152973890304565,
+              0.013882607221603283,
+              0.03443259000778198
+            ],
+            "min_contact_pad_to_button": 0.02117788379282749,
+            "closest_contact_pad": [
+              0.12580996751785278,
+              -0.4181931727429291,
+              0.7902840481348757
+            ],
+            "closest_contact_pad_button": [
+              0.12580996751785278,
+              -0.41540184617042536,
+              0.7692909240722656
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027913265725037495,
+              0.020993124062610113
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eff13b87757eb053e4d864b9fc0e128e51e0773ad09552eac72e8ee90fc6a34d",
+    "visual_seed": 4000752750019541786,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..794fba3e492e61c98e2b2ed4801ea56576a40b6c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_64_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              1.0046949759792707
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+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.14358840835985998,
+            "gripper_z": 1.0060201139761373,
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+            "gripper_position": [
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+              -0.05493483643063739,
+              1.0060201139761373
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+              0.004040917413984824,
+              0.004187822159044993,
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+            "object_to_gripper_z": -0.001325137996866621,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.34099819640075435,
+              -0.07465198403048179,
+              1.0046949759792707
+            ],
+            "finger_b": [
+              0.3304052693128185,
+              -0.050747014271592394,
+              1.0046949759792707
+            ],
+            "finger_midpoint": [
+              0.3357017328567864,
+              -0.06269949915103709,
+              1.0046949759792707
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+            "object_minus_finger_midpoint": [
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+              0.011952484879444697,
+              0.0
+            ],
+            "finger_gap": 0.02614684844228347,
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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": 1.0544803661659803,
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+            "object_projection_between_fingers": 0.8358679979696647,
+            "object_to_finger_line_xy": 0.009684670114419031,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049178355018621125,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3193328615225255,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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+                "fr3_leftfinger",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
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+                "panda_joint2",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "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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+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021039236497451305,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007682442665100098,
+            "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": 0.007682999121060478,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1288568377494812,
+              -0.40756869316101074,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1288568377494812,
+              -0.40756869316101074,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13002106543626113,
+              -0.4076529341603725,
+              0.8043789011259936
+            ],
+            "closest_button": [
+              0.1287497580051422,
+              -0.40757647156715393,
+              0.7693452835083008
+            ],
+            "closest_ee_minus_button": [
+              0.0012713074311189176,
+              -7.646259321858473e-05,
+              0.03503361761769286
+            ],
+            "button_min_z_position": [
+              0.12876462936401367,
+              -0.4075756072998047,
+              0.7691264152526855
+            ],
+            "min_active_finger_to_button": 0.14474922449525837,
+            "closest_active_finger": [
+              -0.010988563299179077,
+              -0.39298564195632935,
+              0.8110178709030151
+            ],
+            "closest_active_finger_button": [
+              0.1288529336452484,
+              -0.40756815671920776,
+              0.7766079306602478
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1398414969444275,
+              0.014582514762878418,
+              0.034409940242767334
+            ],
+            "min_contact_pad_to_button": 0.021039236497451305,
+            "closest_contact_pad": [
+              0.1287497580051422,
+              -0.4087164609151269,
+              0.7903536127298785
+            ],
+            "closest_contact_pad_button": [
+              0.1287497580051422,
+              -0.40757647156715393,
+              0.7693452835083008
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011399893479729917,
+              0.021008329221577693
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d3df37529f5fc61db5bc4cb8ba43efc57d351c4893f84b66875058b7faf7ff5",
+    "visual_seed": 7159200133582419924,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49539d45ae92c7c5132d79cdc932ccacace664d7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_67_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34150375663990684,
+              -0.06259962596470725,
+              1.002766604182109
+            ],
+            "current_z": 1.002766604182109,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14166009616734299,
+            "gripper_z": 1.0031345273196,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.337694571841853,
+              -0.06665065078505425,
+              1.0031345273196
+            ],
+            "object_minus_gripper": [
+              0.0038091847980538662,
+              0.004051024820346999,
+              -0.0003679231374908998
+            ],
+            "object_to_gripper_xy": 0.0055606376361701645,
+            "object_to_gripper_z": -0.0003679231374908998,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34150375663990684,
+              -0.0863783319725783,
+              1.002766604182109
+            ],
+            "finger_b": [
+              0.33112956885249584,
+              -0.06259962596470725,
+              1.002766604182109
+            ],
+            "finger_midpoint": [
+              0.3363166627462013,
+              -0.07448897896864277,
+              1.002766604182109
+            ],
+            "object_minus_finger_midpoint": [
+              0.00518709389370553,
+              0.011889353003935524,
+              0.0
+            ],
+            "finger_gap": 0.0259432193772714,
+            "fingertip_max_gap": 0.09386183901670933,
+            "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": 1.002766604182109,
+            "object_top_z": 1.0527685516869973,
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+            "object_projection_between_fingers": 0.8400955779753608,
+            "object_to_finger_line_xy": 0.009508641078038688,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04943091950835467,
+            "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": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23294325787682144,
+              0.2637621518437163,
+              0.756586388199276
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+            "gripper_position": [
+              0.24183194648346626,
+              0.22877926405450782,
+              1.029887645258005
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+            "target_minus_gripper": [
+              -0.008888688606644823,
+              0.034982887789208494,
+              -0.273301257058729
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+            "held_position": [
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+              0.23278610751566198,
+              1.0294538415362622
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+            "held_minus_target": [
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+              -0.030976044328054342,
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+            "held_minus_gripper": [
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+              0.004006843461154153,
+              -0.00043380372174284254
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+            "xy_dist": 0.03609447635329054,
+            "held_xy_dist": 0.03348999054225457,
+            "held_gripper_dist": 0.005567948145195826,
+            "max_held_gripper_dist": 0.00557268940252945,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
+            "held_z": 1.0294538415362622,
+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.029887645258005,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.1010013465612,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 3.7071010607518673,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9811652667869375,
+            "max_source_tilt_deg": 89.93499133628745,
+            "source_upright_tilt_deg": 3.8020285486883347,
+            "max_source_upright_tilt_deg": 89.93872901820338,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9811652667869375,
+            "source_upright_return_tilt_deg": 3.8020285486883347,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.429369702178807e-08,
+            "max_target_xy_drift": 7.754332918678336e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2329,
+                0.2638,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2329,
+                0.2638,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0005,
+                -0.0001,
+                0.0005
+              ],
+              "controller_last_pour_pose_position": [
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+                1.0223
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+            "required_stable_lift_frames": 5
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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"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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": 4,
+      "skill": "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": [
+              0.2791503614530625,
+              -0.3602289714683449,
+              0.8470196824902041
+            ],
+            "target_position": [
+              0.2727904447004538,
+              -0.36037935043765795,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006361694344632094,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1870137138183393,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196824902041,
+            "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": 0.07558038507656538,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529292313485622,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15474834411927144,
+            "release_required_pad_clearance": 0.05264646156742811,
+            "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": 0.3516585551436941,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00777965784072876,
+            "max_z_decrease": 0.00777965784072876,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035066807801217036,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00777965784072876,
+            "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": 0.0211532680884543,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00777965784072876,
+            "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": 0.007780257037138267,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1284903734922409,
+              -0.4166408181190491,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1284903734922409,
+              -0.4166408181190491,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12697536182976676,
+              -0.4184865495241466,
+              0.8050176004039505
+            ],
+            "closest_button": [
+              0.12839861214160916,
+              -0.4166461527347565,
+              0.7700280547142029
+            ],
+            "closest_ee_minus_button": [
+              -0.0014232503118424,
+              -0.0018403967893900752,
+              0.03498954568974766
+            ],
+            "button_min_z_position": [
+              0.12839396297931668,
+              -0.41664615273475647,
+              0.7690292000770569
+            ],
+            "min_active_finger_to_button": 0.14726606654442914,
+            "closest_active_finger": [
+              -0.014189451932907104,
+              -0.40464717149734497,
+              0.8106696009635925
+            ],
+            "closest_active_finger_button": [
+              0.1284860223531723,
+              -0.4166386127471924,
+              0.7762137055397034
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1426754742860794,
+              0.011991441249847412,
+              0.03445589542388916
+            ],
+            "min_contact_pad_to_button": 0.0211532680884543,
+            "closest_contact_pad": [
+              0.12839396297931668,
+              -0.4194927468214442,
+              0.7899900601006259
+            ],
+            "closest_contact_pad_button": [
+              0.12839396297931668,
+              -0.41664615273475647,
+              0.7690292000770569
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002846594086687748,
+              0.020960860023569006
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c72112937aa2044362710dad675eae2d6c0332b070139b73d36055f5ce559b89",
+    "visual_seed": 2509324643253854145,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc060b43ce76ee5c4caae11f1b34d597ab22857b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_69_success.json
@@ -0,0 +1,1682 @@
+{
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+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+            "object_tilt_deg": 1.4155179539976506,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007554531097412109,
+            "max_z_decrease": 0.007554531097412109,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035094389035985794,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007554531097412109,
+            "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": 0.021001127878220085,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007554531097412109,
+            "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": 0.007555158884733675,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12962540984153745,
+              -0.41438791155815125,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12962540984153745,
+              -0.41438791155815125,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13088988454276831,
+              -0.4139466780009897,
+              0.8044595118589727
+            ],
+            "closest_button": [
+              0.12952117621898646,
+              -0.41439551115036005,
+              0.7693946957588196
+            ],
+            "closest_ee_minus_button": [
+              0.0013687083237818587,
+              0.00044883314937033125,
+              0.03506481610015311
+            ],
+            "button_min_z_position": [
+              0.1295282244682312,
+              -0.41439428925514216,
+              0.7692543268203735
+            ],
+            "min_active_finger_to_button": 0.14448629736121313,
+            "closest_active_finger": [
+              0.002921968698501587,
+              -0.47483932971954346,
+              0.810543417930603
+            ],
+            "closest_active_finger_button": [
+              0.1296185404062271,
+              -0.4143877327442169,
+              0.7763400077819824
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12669657170772552,
+              -0.06045159697532654,
+              0.034203410148620605
+            ],
+            "min_contact_pad_to_button": 0.021001127878220085,
+            "closest_contact_pad": [
+              0.1295282244682312,
+              -0.41534296008207844,
+              0.7902340168995781
+            ],
+            "closest_contact_pad_button": [
+              0.1295282244682312,
+              -0.41439428925514216,
+              0.7692543268203735
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000948670826936282,
+              0.020979690079204527
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5094c9fabbcc7d3c71f78ed307c2e1a88e1f6438781253ee0c663ffd4025fcbd",
+    "visual_seed": 3844342369954722903,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fea160c3147c2af166a2c102e09b1ede661315eb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_6_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3436655260450764,
+              -0.05040680204260871,
+              1.0049074664269915
+            ],
+            "current_z": 1.0049074664269915,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1438009584122254,
+            "gripper_z": 1.005785588444954,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33965091406567693,
+              -0.05462242778015251,
+              1.005785588444954
+            ],
+            "object_minus_gripper": [
+              0.004014611979399452,
+              0.004215625737543804,
+              -0.0008781220179625571
+            ],
+            "object_to_gripper_xy": 0.005821392419703324,
+            "object_to_gripper_z": -0.0008781220179625571,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3436655260450764,
+              -0.0742209390272995,
+              1.0049074664269915
+            ],
+            "finger_b": [
+              0.3329287007629104,
+              -0.05040680204260871,
+              1.0049074664269915
+            ],
+            "finger_midpoint": [
+              0.3382971134039934,
+              -0.0623138705349541,
+              1.0049074664269915
+            ],
+            "object_minus_finger_midpoint": [
+              0.005368412641083009,
+              0.011907068492345393,
+              0.0
+            ],
+            "finger_gap": 0.026122644151490022,
+            "fingertip_max_gap": 0.0930703618953935,
+            "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": 1.0049074664269915,
+            "object_top_z": 1.0548681765822936,
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+            "fingertip_min_top_clearance": 0.014988213046590653,
+            "object_projection_between_fingers": 0.8310658296939429,
+            "object_to_finger_line_xy": 0.009787991849806952,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04903518094769675,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.73755573929841,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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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": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "907a191fdf66630d4018dde2f50fd28f70de2c7fa5a3bea36aa83364d28e723c",
+    "visual_seed": 5427261240489288699,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2813326b5640b327ccae73ab90378fa4983083c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_70_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3393380637424589,
+              -0.05384963056442509,
+              1.0045714537892585
+            ],
+            "current_z": 1.0045714537892585,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1434650053791373,
+            "gripper_z": 1.0049488428294175,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3354451652157524,
+              -0.058005681541724086,
+              1.0049488428294175
+            ],
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+              0.0038928985267064897,
+              0.004156050977298993,
+              -0.0003773890401590485
+            ],
+            "object_to_gripper_xy": 0.005694507763199685,
+            "object_to_gripper_z": -0.0003773890401590485,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3393380637424589,
+              -0.07757064249973099,
+              1.0045714537892585
+            ],
+            "finger_b": [
+              0.3286729522586652,
+              -0.05384963056442509,
+              1.0045714537892585
+            ],
+            "finger_midpoint": [
+              0.33400550800056206,
+              -0.06571013653207804,
+              1.0045714537892585
+            ],
+            "object_minus_finger_midpoint": [
+              0.005332555741896838,
+              0.011860505967652944,
+              0.0
+            ],
+            "finger_gap": 0.026008287336860007,
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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": 1.0543929357685435,
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+            "object_to_finger_line_xy": 0.009727177861492386,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04923629567477651,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3214350750788553,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.24098725231842685,
+              0.2638674246234572,
+              0.7565864441648238
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+            "gripper_position": [
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+              0.22863413612506883,
+              1.029120644974943
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+              0.03523328849838836,
+              -0.27253420081011925
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004074434049892328,
+              -0.0004533361184950735
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+            "xy_threshold": 0.15,
+            "target_z": 0.7565864441648238,
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+            "gripper_z": 1.029120644974943,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.12617742384187,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_tilt_deg": 3.209154608672517,
+            "max_source_upright_tilt_deg": 89.67377618498132,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0617099513345187,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.8190856628697368e-07,
+            "max_target_xy_drift": 2.5331120915701394e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.00013947379660532322,
+            "max_target_tilt_deg": 0.0002789541259872718,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.241,
+                0.2639,
+                0.7566
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+              "controller_target_position": [
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+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              ],
+              "height_range_2": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.2388,
+              1.0226
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
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+            ],
+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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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",
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+                "floor",
+                "ground",
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+                "wheel",
+                "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": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "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": [
+              0.27842237587499197,
+              -0.3606685342857263,
+              0.8470199474481808
+            ],
+            "target_position": [
+              0.2712508022224205,
+              -0.3593968339570478,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007283453190638252,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18588725236832068,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199474481808,
+            "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": 0.07559728144657102,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08768719623574898,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533919247886533,
+            "release_required_pad_clearance": 0.053843598117874494,
+            "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": 2.6954014391549546,
+            "object_max_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": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007475018501281738,
+            "max_z_decrease": 0.007475018501281738,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510594888295818,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007475018501281738,
+            "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": 0.020998854910358893,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007475018501281738,
+            "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": 0.007475531211136869,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12695072591304774,
+              -0.4156582951545716,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12695072591304774,
+              -0.4156582951545716,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12819129057219675,
+              -0.4145868068622533,
+              0.8045525874168126
+            ],
+            "closest_button": [
+              0.12685357034206385,
+              -0.4156644940376282,
+              0.7694886922836304
+            ],
+            "closest_ee_minus_button": [
+              0.0013377202301328994,
+              0.0010776871753748751,
+              0.0350638951331822
+            ],
+            "button_min_z_position": [
+              0.12686325609683985,
+              -0.41566208004951477,
+              0.7693338394165039
+            ],
+            "min_active_finger_to_button": 0.1442541918513464,
+            "closest_active_finger": [
+              0.0003138408064842224,
+              -0.47567206621170044,
+              0.8106709718704224
+            ],
+            "closest_active_finger_button": [
+              0.12694422900676725,
+              -0.41565769910812383,
+              0.77643221616745
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12663038820028302,
+              -0.060014367103576605,
+              0.03423875570297241
+            ],
+            "min_contact_pad_to_button": 0.020998854910358893,
+            "closest_contact_pad": [
+              0.12685357034206385,
+              -0.4159611235690389,
+              0.7904854519971528
+            ],
+            "closest_contact_pad_button": [
+              0.12685357034206385,
+              -0.4156644940376282,
+              0.7694886922836304
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00029662953141074144,
+              0.02099675971352244
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddc8b70dc425d3bb31d5c3511147d20d542ebfd64e2bc5d276f34df8bab7051a",
+    "visual_seed": 7634308508409577171,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae4e35283bd947c2e0a58a6555e2fbbeb30c5afb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_71_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+              1.0040684440276606
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+            "lift_margin": 0.14296199561753953,
+            "gripper_z": 1.0051281179092628,
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+            "gripper_position": [
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+              -0.0651992894398381,
+              1.0051281179092628
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+              0.004159212426081485,
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+            "object_to_gripper_z": -0.0010596738816022189,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33643303931890595,
+              -0.08514048374438202,
+              1.0040684440276606
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+            "finger_b": [
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+              -0.06104007701375662,
+              1.0040684440276606
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+            "finger_midpoint": [
+              0.33124437476654656,
+              -0.07309028037906931,
+              1.0040684440276606
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+            "object_minus_finger_midpoint": [
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+              0.012050203365312692,
+              0.0
+            ],
+            "finger_gap": 0.02623963726748559,
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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": 0.009531299905246196,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049161381660243295,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.079622841712054,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
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+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007726192474365234,
+            "max_z_decrease": 0.007726192474365234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502938675048742,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007726192474365234,
+            "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": 0.02101237190499133,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007726192474365234,
+            "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": 0.0077267456457016945,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12658749520778656,
+              -0.412324458360672,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12658749520778656,
+              -0.412324458360672,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.126636421721967,
+              -0.41189619035655034,
+              0.8043303222177061
+            ],
+            "closest_button": [
+              0.12648433446884155,
+              -0.4123320579528808,
+              0.7693039774894714
+            ],
+            "closest_ee_minus_button": [
+              0.00015208725312546023,
+              0.0004358675963304637,
+              0.035026344728234626
+            ],
+            "button_min_z_position": [
+              0.12649527192115784,
+              -0.41233101487159723,
+              0.7690826654434204
+            ],
+            "min_active_finger_to_button": 0.1456103999001118,
+            "closest_active_finger": [
+              -0.0002590492367744446,
+              -0.4750508964061737,
+              0.8109022974967957
+            ],
+            "closest_active_finger_button": [
+              0.12658259272575378,
+              -0.41232213377952576,
+              0.7765702605247498
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12684164196252823,
+              -0.06272876262664795,
+              0.0343320369720459
+            ],
+            "min_contact_pad_to_button": 0.02101237190499133,
+            "closest_contact_pad": [
+              0.12648433446884155,
+              -0.41307074585822134,
+              0.7903033611292875
+            ],
+            "closest_contact_pad_button": [
+              0.12648433446884155,
+              -0.4123320579528808,
+              0.7693039774894714
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007386879053405404,
+              0.020999383639816016
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0af69d9b49e9fd77708ffe57520904080674b05e158d1660fffa40db5c52b458",
+    "visual_seed": 1806179765986210720,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9d089a37fed6bcb6ecfe8ba96e517ab5cf5393
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_72_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3374070339976619,
+              -0.05339129570479387,
+              1.0026195394247264
+            ],
+            "current_z": 1.0026195394247264,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1415130314099603,
+            "gripper_z": 1.003711034633129,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33320669656547586,
+              -0.05760457162747608,
+              1.003711034633129
+            ],
+            "object_minus_gripper": [
+              0.004200337432186063,
+              0.004213275922682211,
+              -0.0010914952084026819
+            ],
+            "object_to_gripper_xy": 0.005949330092109283,
+            "object_to_gripper_z": -0.0010914952084026819,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3374070339976619,
+              -0.07752495470353649,
+              1.0026195394247264
+            ],
+            "finger_b": [
+              0.326926513564808,
+              -0.05339129570479387,
+              1.0026195394247264
+            ],
+            "finger_midpoint": [
+              0.33216677378123494,
+              -0.06545812520416518,
+              1.0026195394247264
+            ],
+            "object_minus_finger_midpoint": [
+              0.005240260216426984,
+              0.01206682949937131,
+              0.0
+            ],
+            "finger_gap": 0.02631111562079911,
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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": 1.0026195394247264,
+            "object_top_z": 1.0524213636631308,
+            "finger_top_clearance": 0.0498018242384044,
+            "fingertip_min_top_clearance": 0.01494054727152132,
+            "object_projection_between_fingers": 0.8413327948429666,
+            "object_to_finger_line_xy": 0.009613172998863849,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04910737890255225,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0971424383602537,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.24148047778224022,
+              0.2640745555492405,
+              0.7565865341698561
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+            "gripper_position": [
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+              0.22992833171564697,
+              1.0306785037119752
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+            "held_position": [
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+              0.004244977602915201,
+              -0.0011320593749748475
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+            "max_held_gripper_dist": 0.006052514690674952,
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+            "missing_held_position_samples": 0,
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+            "target_z": 0.7565865341698561,
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+            "gripper_z": 1.0306785037119752,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.12229104620413,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
+            ],
+            "source_start_tilt_deg": 3.880746994526609,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 0.7320205677992917,
+            "max_source_tilt_deg": 89.8858388752357,
+            "source_upright_tilt_deg": 3.8425519981488736,
+            "max_source_upright_tilt_deg": 89.61197728087427,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 0.7320205677992917,
+            "source_upright_return_tilt_deg": 3.8425519981488736,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.522654852549291e-07,
+            "max_target_xy_drift": 7.180320443656209e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.039564608594153054,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.00024184711517318813,
+            "max_target_tilt_deg": 0.0005218603677584984,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..580530469482f4601e11acb6e4f475b9ff26ff87
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_73_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              -0.057934501805694844,
+              1.004769694336054
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+              -0.062000082205591014,
+              1.005665647878768
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+              0.004065580399896171,
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+            "object_to_gripper_z": -0.0008959535427139897,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.08197291608939593,
+              1.004769694336054
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+            "finger_b": [
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+              -0.057934501805694844,
+              1.004769694336054
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+            "finger_midpoint": [
+              0.3365059520030197,
+              -0.06995370894754538,
+              1.004769694336054
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+              0.012019207141850535,
+              0.0
+            ],
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+              0.2697486635510222,
+              0.756586388199276
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+              0.23370559578506522,
+              1.025360918058484
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "source_return_max_tilt_deg": 15.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_resolved_tilt_axis_world": null,
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_pose_failed_keys": [
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+  },
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+  "collection_result_filename": "episode_74_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e13ae9fb5d33d099be89fa0f35c0ff2f9f4f814
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_74_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
+  "passed_steps": 6,
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+  "step_accuracy": "6/6",
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+  },
+  "collection_episode_index": 75,
+  "collection_result_filename": "episode_75_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7151c4f8994b40c71ae2fa039ff167ac612600b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_75_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
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+  "collection_result_filename": "episode_76_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e94dce5c10ed9765f903fb34feec93ffec5021f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_77_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
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+  "collection_result_filename": "episode_78_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5001346bcff40996d6dcbb6b814af94a81a2dc4a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_78_success.json
@@ -0,0 +1,1684 @@
+{
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+                "gripper",
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+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed025c3177659f6eddbfba89814e4550418b9430
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_79_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
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+  "collection_result_filename": "episode_80_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd9dba4de8b5bd7adc5f98715d04a90c6a5a1a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_7_success.json
@@ -0,0 +1,1682 @@
+{
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+  "success": true,
+  "passed_steps": 6,
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+  "step_accuracy": "6/6",
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+                "gripper",
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+                "joint1",
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+                "joint4",
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+                "mobile_translate_y",
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+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+              0.12876862287521357,
+              -0.40965554118156433,
+              0.7700161933898926
+            ],
+            "closest_ee_minus_button": [
+              0.001147094280685379,
+              -0.0002844626410848927,
+              0.035029507798315374
+            ],
+            "button_min_z_position": [
+              0.12876208126544947,
+              -0.4096551537513733,
+              0.7690582871437073
+            ],
+            "min_active_finger_to_button": 0.14490180373870076,
+            "closest_active_finger": [
+              -0.011127382516860962,
+              -0.39499369263648987,
+              0.8109602332115173
+            ],
+            "closest_active_finger_button": [
+              0.1288656443357467,
+              -0.4096461832523346,
+              0.7765539884567261
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13999302685260767,
+              0.014652490615844727,
+              0.03440624475479126
+            ],
+            "min_contact_pad_to_button": 0.02104121165501081,
+            "closest_contact_pad": [
+              0.12876208126544947,
+              -0.4110465094964635,
+              0.7900534465168001
+            ],
+            "closest_contact_pad_button": [
+              0.12876208126544947,
+              -0.4096551537513733,
+              0.7690582871437073
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013913557450901948,
+              0.02099515937309282
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f3c2af03857765200e17f6d7d5168fdb966d44aa8dd8a82fa65ac22257de4a69",
+    "visual_seed": 7739661191924667879,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b6a478f898f74fc672ee0738bddcbf713bfc9da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_80_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3448342327789973,
+              -0.058791500199903146,
+              1.0020601976653571
+            ],
+            "current_z": 1.0020601976653571,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1409536300459464,
+            "gripper_z": 1.0026027638346287,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3409458212809545,
+              -0.06300419086841179,
+              1.0026027638346287
+            ],
+            "object_minus_gripper": [
+              0.003888411498042754,
+              0.004212690668508642,
+              -0.0005425661692715078
+            ],
+            "object_to_gripper_xy": 0.005732931767137203,
+            "object_to_gripper_z": -0.0005425661692715078,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3448342327789973,
+              -0.08239108300298735,
+              1.0020601976653571
+            ],
+            "finger_b": [
+              0.3339140607376522,
+              -0.058791500199903146,
+              1.0020601976653571
+            ],
+            "finger_midpoint": [
+              0.3393741467583247,
+              -0.07059129160144526,
+              1.0020601976653571
+            ],
+            "object_minus_finger_midpoint": [
+              0.00546008602067255,
+              0.011799791401542109,
+              0.0
+            ],
+            "finger_gap": 0.026003662547652837,
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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": 1.0020601976653571,
+            "object_top_z": 1.0520600321625837,
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+            "fingertip_min_top_clearance": 0.014999950349167934,
+            "object_projection_between_fingers": 0.8236441307180663,
+            "object_to_finger_line_xy": 0.009910584858628354,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049332122565836425,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1723634536088925,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.26834484153012517,
+              0.7565863518619764
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+            "gripper_position": [
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+              0.23239074395375628,
+              1.0246169281392061
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+              0.03595409757636889,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.00406142374439275,
+              -0.0006279720620687712
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+            "held_gripper_dist": 0.005753033603990519,
+            "max_held_gripper_dist": 0.005759514033594264,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863518619764,
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+            "required_height": 0.7865863518619765,
+            "gripper_z": 1.0246169281392061,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.12736587675745,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 2.465193664234962,
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+            "source_tilt_deg": 2.1469472457176093,
+            "max_source_tilt_deg": 89.83913971980529,
+            "source_upright_tilt_deg": 2.510532621667036,
+            "max_source_upright_tilt_deg": 89.80093099255753,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.1469472457176093,
+            "source_upright_return_tilt_deg": 2.510532621667036,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.61380951017551e-08,
+            "max_target_xy_drift": 7.263516680585206e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.039564559476335026,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.00013870077777355073,
+            "max_target_tilt_deg": 0.0005817764230608227,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2415,
+                0.2683,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.2683,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+                1.0234
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              "height_range_2": [
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+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
+                ],
+                "position_threshold_m": 0.015,
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+  "collection_result_filename": "episode_81_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b5f3ba4074c9e79f5954c546f2d7c4ec462435c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_81_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 6,
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+  },
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+  "collection_result_filename": "episode_82_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e49e9c84b51cba75698787886626f05452e1e192
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_82_success.json
@@ -0,0 +1,1684 @@
+{
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+    "physical_randomization_enabled": true,
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+  },
+  "collection_episode_index": 83,
+  "collection_result_filename": "episode_83_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87e8e1b013e9e8c286b37e6e00ca3e14ea2d4068
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_83_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
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+  "collection_result_filename": "episode_84_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..60c5312777b72ebc2072bdc2af3580f76bc44fe0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_84_success.json
@@ -0,0 +1,1684 @@
+{
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "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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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
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+                "left_inner_finger",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+  },
+  "collection_episode_index": 85,
+  "collection_result_filename": "episode_85_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6893d089f567f6195426ae9d8b4292795cf28bcc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_86_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
+  "passed_steps": 6,
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+  "step_accuracy": "6/6",
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+  "collection_episode_index": 87,
+  "collection_result_filename": "episode_87_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5756c1d30ec93fec7f4d0fea426ad17113e342a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_87_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+  },
+  "collection_episode_index": 88,
+  "collection_result_filename": "episode_88_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..016f6023fcaeadf55db764aad6fbd68d06073dc3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_88_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
+  "passed_steps": 6,
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+    "physical_randomization_enabled": true,
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+  },
+  "collection_episode_index": 89,
+  "collection_result_filename": "episode_89_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6cf8b208a11002bb32d5fc256d10d307471de74
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_89_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+  },
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+  "collection_result_filename": "episode_90_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdfdcc4fad88fa911a410b01961a3503cd351c0d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_8_success.json
@@ -0,0 +1,1682 @@
+{
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+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007708132266998291,
+            "max_z_decrease": 0.007708132266998291,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509261897891446,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007708132266998291,
+            "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": 0.021253269968429866,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_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": 0.007708132266998291,
+            "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": 0.0077086831574441055,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12367319315671918,
+              -0.41266974806785583,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12367319315671918,
+              -0.41266974806785583,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12428717231310868,
+              -0.41465028878668064,
+              0.8045523310813124
+            ],
+            "closest_button": [
+              0.1235724240541458,
+              -0.41267663240432734,
+              0.7695225477218628
+            ],
+            "closest_ee_minus_button": [
+              0.0007147482589628801,
+              -0.001973656382353306,
+              0.03502978335944962
+            ],
+            "button_min_z_position": [
+              0.12358114868402478,
+              -0.41267430782318115,
+              0.7691007256507874
+            ],
+            "min_active_finger_to_button": 0.1450788515663618,
+            "closest_active_finger": [
+              -0.016473516821861267,
+              -0.39766573905944824,
+              0.8109914660453796
+            ],
+            "closest_active_finger_button": [
+              0.12366867065429685,
+              -0.412668377161026,
+              0.776597261428833
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14014218747615811,
+              0.015002638101577759,
+              0.03439420461654663
+            ],
+            "min_contact_pad_to_button": 0.021253269968429866,
+            "closest_contact_pad": [
+              0.12358114868402478,
+              -0.41593333254592607,
+              0.7901026360926376
+            ],
+            "closest_contact_pad_button": [
+              0.12358114868402478,
+              -0.41267430782318115,
+              0.7691007256507874
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0032590247227449187,
+              0.02100191044185029
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "ce0b325e21133aba0a4ed41bff8e05b406cc4e8c4fc4682c8bdfb34134c2eed9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d655d724bc6500716b4e94f9c6a598e2f4e96229ab20a46705649ec9478526ca",
+    "visual_seed": 4895688114979727444,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "39f111651fbd9c8b80b07727b089df93b14ae11afac597a3c9b6228942f40235"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08b58f21d160fda2436d0bc4feca4ca7b9fd57ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_90_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.34430729602929616,
+              -0.0614656921739769,
+              1.0026114022036579
+            ],
+            "current_z": 1.0026114022036579,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1415048941888919,
+            "gripper_z": 1.0029598043124615,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34031398772879506,
+              -0.06553564962031808,
+              1.0029598043124615
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+              0.003993308300501097,
+              0.004069957446341178,
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+            "object_to_gripper_z": -0.00034840210880360267,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.34430729602929616,
+              -0.08552151878354768,
+              1.0026114022036579
+            ],
+            "finger_b": [
+              0.3340980001552698,
+              -0.0614656921739769,
+              1.0026114022036579
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+            "finger_midpoint": [
+              0.33920264809228295,
+              -0.07349360547876228,
+              1.0026114022036579
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+            "object_minus_finger_midpoint": [
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+              0.012027913304785386,
+              0.0
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+            "finger_gap": 0.026132594898194573,
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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": 0.00939795884442964,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049351491682008655,
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+              1.0
+            ],
+            "stable_success_frames": 169,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+                  "b": "/World/beaker_2/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/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565864302348064
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+              0.2283905691242053,
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+              0.004071159036827726,
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+            "max_held_gripper_dist": 0.005712442370816162,
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+            "xy_threshold": 0.15,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.08404881704124,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 3.9802483549686873,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.016866166559293,
+            "max_source_tilt_deg": 89.6223705945317,
+            "source_upright_tilt_deg": 3.9362414543677198,
+            "max_source_upright_tilt_deg": 89.9731580531666,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e00fca1a2bbfd649b6dba90016d4efba51eba25a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_91_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
+  "collection_episode_index": 92,
+  "collection_result_filename": "episode_92_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f956ec6c12b433a61cbe5352da468afec33a3b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_92_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
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+  },
+  "collection_episode_index": 93,
+  "collection_result_filename": "episode_93_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..90ebf71900913e07c3d5e1b89b98ab5e85dd1129
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_93_success.json
@@ -0,0 +1,1684 @@
+{
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+  "collection_result_filename": "episode_94_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e321cddbe4b367af2c50d7a8eaf3bea258d87d89
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_95_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
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+  },
+  "collection_episode_index": 96,
+  "collection_result_filename": "episode_96_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91e43f0574aa94e9bd1cb621223c05a465f10e13
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_96_success.json
@@ -0,0 +1,1684 @@
+{
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+    "physical_randomization_enabled": true,
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+  },
+  "collection_episode_index": 97,
+  "collection_result_filename": "episode_97_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8230995a91b481b2785a01f65bdb71b5c99b8be3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_97_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
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+  "collection_result_filename": "episode_98_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82d58eb1b1fcb7c7e7b671efbc843ec46643e225
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_98_success.json
@@ -0,0 +1,1684 @@
+{
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "joint4",
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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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+                "defaultgroundplane",
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+                "floor",
+                "ground",
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+                },
+                {
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+                "dummy_base_prismatic_y_joint",
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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",
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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",
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+  },
+  "collection_episode_index": 99,
+  "collection_result_filename": "episode_99_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..24dd921d4ccea8cce876d4e9e035157643c577b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_99_success.json
@@ -0,0 +1,1684 @@
+{
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+  "passed_steps": 6,
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+  },
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+  "collection_result_filename": "episode_100_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0871371b14e7bc53703631c3b713ec216304a439
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00054/results/episode_9_success.json
@@ -0,0 +1,1682 @@
+{
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+  "success": true,
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+  "step_accuracy": "6/6",
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+}
\ No newline at end of file
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+}
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